Ramamoorthy Luxman Imvia repository
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
ROS Melodic
Ubuntu 18.04
Install the following components
https://pypi.org/project/eva-sdk/ https://automata.tech/docs/v/3.1.0/
http://172.16.16.2/GET/api/v1/
pip install evasdk
If there is a problem with websockets during the installation :
sudo python3 get-pip.py
sudo pip3 install websockets
pip install evasdk
roslaunch rosbridge_server rosbridge_websocket.launch
cd ~/ws/src/imvia/webpage_ws
python -m SimpleHTTPServer 7000
HTTP requests:
Tutorial: https://www.youtube.com/watch?v=CFzgKfnmG-Q - https://www.youtube.com/watch?v=dgvLegLW6ek
roslaunch eva_description eva.launch
roslaunch eva_gazebo eva_world.launch
roslaunch eva_control eva_control.launch
rostopic pub /eva/joint23_position_controller/command std_msgs/Float64 "data: -1.2"
rostopic pub /eva/joint23_position_controller/command std_msgs/Float64 "data: -0.9"
sudo apt-get install ros-melodic-moveit-simple-controller-manager
sudo apt-get install ros-melodic-gazebo-ros-control
rosdep install --from-paths src --ignore-src -r -y
To view frames
rosrun tf view_frames
Set the computer IP to
static IP 172.16.16.1 Subnet mask 255.255.255.0
Administrator user ID [email protected] password: hackmeeva
rosrun eva_driver test.py
IP 172.16.16.2
Token: 2e49551cc7cb55556ee0468e30296755e9f2cf01
rosrun eva_driver sumum.py
roslaunch avt_vimba_camera mono_camera.launch
Open rave installation
https://roboticslab-uc3m.github.io/installation-guides/install-openrave.html
If you get opengl error
sudo ln -s /usr/lib/x86_64-linux-gnu/libGL.so.1 /usr/lib/libGL.so
for running the example
https://scaron.info/teaching/installing-openrave-on-ubuntu-16.04.html
IKFast - Working steps
note: do not follow the above links.
https://ros-planning.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html#tweaking-the-creation-process
rosrun moveit_kinematics auto_create_ikfast_moveit_plugin.sh --iktype Transform6D $MYROBOT_NAME.urdf eva base_link link6
''' sudo apt-get install apt-file '''
Usage example
''' apt-file search Qt5CoreConfig.cmake
'''
''' https://api-platform.com/ '''
- Ramamoorthy Luxman
import error: "rospkg" sudo pip3 install rospkg catkin_pkg
https://wiki.ros.org/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm - for robot arm driver development
Eva with Linear actuator
rosrun dobot server /dev/ttyUSB0
rosservice call /DobotServer/SetPTPWithLCmd "{ptpMode: 1, x: 200.0, y: 0.0, z: -30.0, r: 0.0, l: 1000}"
sudo chmod a+rw /dev/ttyUSB0
sudo apt remove cmdtest sudo apt remove yarn curl -sS https://dl.yarnpkg.com/debian/pubkey.gpg | sudo apt-key add - echo "deb https://dl.yarnpkg.com/debian/ stable main" | sudo tee /etc/apt/sources.list.d/yarn.list sudo apt-get update sudo apt-get install yarn -y
Press windows key and type terminator
sudo python platform_control.py 192.168.187.1
XY Platform sudo chmod a+x /dev/ttyACM0 sudo chmod a+rw /dev/ttyACM0 sudo python platform_control.py cd ~/ws/src/imvia/xy_platform/src
roscore roslaunch eva_arm_moveit_config live.launch python3 eva_control_server.py
For handplus
npm install vue-numeric-input --save npm i --save @hipsjs/flowy-vue npm install vue-drag-and-flow -s
https://github.com/vuejs/awesome-vue#video-manipulation https://htmlpreview.github.io/?https://raw.githubusercontent.com/987153776/vue-picture-cut/master/dist/index.html
npm install --save typeface-roboto
in src/App.vue, add
npm install --save-dev node-sass sass-loader
<style lang="sass"> @import '../node_modules/typeface-roboto/index.css' </style>npm install nipplejs --save
npm run serve
cd vue3-sidebar-master/
npm install vue
cd /bin
export PATH="~/anaconda3/bin":$PATH
conda create --name anaconda_ws
conda init bash
conda activate anaconda_ws
pip install nodeenv
// eslint-disable-next-line
https://ldwgwffnschmdt.github.io/vue-ros3djs/Ros3dViewer.vue.html
nodeenv env
. env/bin/activate
npm install bootstrap --save
npm install bootstrap-vue --save
npm install @syncfusion/ej2-vue-layouts --save
yarn add @fortawesome/fontawesome-free
/home/ram/anaconda3/envs/anaconda_ws
add router first and then vuetify npm install vue-round-slider --save npm install vue-slider-component --save npm install --save @jzolago/vuetify-number-input npm install vue-custom-scrollbar --save npm install vue-scroll-snap --save npm install vue-horizontal-scroll --save npm install roslib --save npm install git://github.com/RobotWebTools/roslibjs#develop --save npm install --save vue-ros3djs npm i vue-iframes npm i -S vue-status-indicator
rosrun tf2_web_republisher tf2_web_republisher livehttp
post definition in postman https://www.postman.com/postman/workspace/postman-public-workspace/api/f00b3236-8241-43ce-925f-80f6f73f8ffc?version=26b1363e-2b53-4ec3-85b2-21ae480c86fe&tab=define
to fix the block origin https://gist.github.com/razor-x/9542707
killport
https://stackoverflow.com/questions/19071512/socket-error-errno-48-address-already-in-use
add this function in bashrc
function killport {
kill -9 lsof -i tcp:"$1" | grep LISTEN | awk '{print $2}'
}
and use killport 9090
pip install nodeenv nodeenv env . env/bin/activate conda init bash conda activate anaconda_ws npm install -g @vue/cli
https://www.itsupportwale.com/blog/how-to-upgrade-to-python-3-7-on-ubuntu-18-10/
config: bools: [] ints: - name: "exposure_auto_tol" value: 5 - name: "exposure_auto_max" value: 50000 - name: "exposure_auto_min" value: 41 - name: "exposure_auto_outliers" value: 0 - name: "exposure_auto_rate" value: 100 - name: "exposure_auto_target" value: 50 - name: "gain_auto_tol" value: 5 - name: "gain_auto_outliers" value: 0 - name: "gain_auto_rate" value: 100 - name: "gain_auto_target" value: 50 - name: "whitebalance_auto_tol" value: 5 - name: "whitebalance_auto_rate" value: 100 - name: "binning_x" value: 1 - name: "binning_y" value: 1 - name: "decimation_x" value: 1 - name: "decimation_y" value: 1 - name: "width" value: 2452 - name: "height" value: 2056 - name: "roi_width" value: 0 - name: "roi_height" value: 0 - name: "roi_offset_x" value: 0 - name: "roi_offset_y" value: 0 - name: "stream_bytes_per_second" value: 45000000 - name: "iris_auto_target" value: 50 - name: "iris_video_level_min" value: 110 - name: "iris_video_level_max" value: 110 strs: - name: "frame_id" value: "left_optical" - name: "trig_timestamp_topic" value: '' - name: "acquisition_mode" value: "Continuous" - name: "trigger_source" value: "FixedRate" - name: "trigger_mode" value: "On" - name: "trigger_selector" value: "FrameStart" - name: "trigger_activation" value: "RisingEdge" - name: "exposure_auto" value: "Off" - name: "exposure_auto_alg" value: "FitRange" - name: "gain_auto" value: "Off" - name: "balance_ratio_selector" value: "Red" - name: "whitebalance_auto" value: "Off" - name: "pixel_format" value: "Mono8" - name: "ptp_mode" value: "Off" - name: "sync_in_selector" value: "SyncIn1" - name: "sync_out_polarity" value: "Normal" - name: "sync_out_selector" value: "SyncOut1" - name: "sync_out_source" value: "GPO" - name: "iris_mode" value: "Continuous" doubles: - name: "acquisition_rate" value: 8.0 - name: "trigger_delay" value: 0.0 - name: "exposure" value: 500.0 - name: "gain" value: 20.0 - name: "gain_auto_max" value: 32.0 - name: "gain_auto_min" value: 0.0 - name: "balance_ratio_abs" value: 1.0 groups: - name: "Default" state: True id: 0 parent: 0 https://www.hamzamerzic.info/ikfast_generator/
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