roboticslab-uc3m / yarp-devices

A place for YARP devices

A place for YARP devices.

Link to Doxygen generated documentation: https://robots.uc3m.es/yarp-devices/

Installation

Installation instructions for installing from source can be found here.

Usage

Usage instructions for the different devices contained in this repository can be found in each corresponding subdirectory.

Tricks

Some tricks for the different devices contained in this repository can be found at https://robots.uc3m.es/developer-manual/appendix/yarp-tricks.html (perma).

Contributing

Posting Issues

1. Read CONTRIBUTING.md
2. Post an issue / Feature request / Specific documentation request

Fork & Pull Request

1. Fork the repository
2. Create your feature branch (git checkout -b my-new-feature) off the master branch, following the Forking Git workflow
3. Commit your changes
4. Push to the branch (git push origin my-new-feature)
5. Create a new Pull Request

Status

Similar and Related Projects

• See robotology/yarp#2372
• roboticslab-uc3m/amor-yarp-devices
• roboticslab-uc3m/dextra-yarp-devices
• asrob-uc3m/yarp-devices
• HUMASoft/yarp-devices
• HUMASoft/CiA402Device
• rtlabs-com/c-open

yarp-devices's Issues

Add install instructions or link in README.

Add install instructions or link in README.

Define the scope of the repository

I have seen some commits lately for the "waiter" application on this repo, and I was wondering if we should keep this repo just for generic functionalities (drivers o modules that can be used in several different applications) and create new repositories for specific applications.

What do you think, guys?

(See also: teo-head - issue11 )

Locomotion PC keeps rebooting

Locomotion PC keeps rebooting without apparent reasons when I try to move the robot's joints through launchlocomotion.

It happens very often so I am not able to work with the legs.

yarpmotorgui fails at getting joint limits

yarpmotorgui-qt (update: same with yarpmotorgui-gtk) not getting robot joint limits. https://github.com/robotology/yarp/blob/eed2a0afaddf3806a7eb551262c2b8a2f3ea6d08/src/yarpmotorgui-qt/partitem.cpp#L180 gets a false return. Same happens on teo-main/programs/teoSim.

[TechnosoftIpos] Check encoder wires before enable

Possible software check encoder wires before enable... ?

Refactor CMake files

A great number of new CMake features would make our CMake files cleaner and better.

Review namespaces

Fit all classes into teo namepace.

[cmake] Update YARP cmake directives

YARP_ADD_PLUGIN_LIBRARY_EXECUTABLE is deprecated.
Use YARP_ADD_PLUGIN_YARPDEV_EXECUTABLE instead.

Add --hold option on playbackManipulation and playbackLocomotion

To maintain control on motors after PT trajectory.

Could not "make" ASIBOT code

Hi, this is my first time posting here, I hope it's good enough. Now to the point.

I was trying to compile the ASIBOT code, but encountered a problem when using "make -j3"
It stops at 78%, right after building the CartesianServerLib. The image below is what the terminal outputs after the error.

I used this as installation guide, as is posted in the Sourceforge ASIBOT repository:

svn co https://svn.code.sf.net/p/roboticslab/code/asibot asibot
cd asibot/main; mkdir build; cd build
cmake .. -DENABLE_cartesianServer=ON -DENABLE_RlPlugins_cartesianbot=ON -DENABLE_RlPlugins_ravebot=ON
make -j3; sudo make install; cd ../../..

Thank you in advance

[CuiAbsolute] create testCuiAbsolute

create testCuiAbsolute

[playbackServer] create separate file reader class

Create a file reader class with a program/line pointer. An instance will be shared among certain states of #21.

[Jr3] Cannot connect analogsensorclient to analogServer

[Jr3] Cannot connect analogsensorclient to analogServer. Lacking upstream info (yarp).

[CuiAbsolute] Nuevos modos de funcionamiento para la publicación de mensajes del PIC

Para poder mejorar el comportamiento de los encoders absolutos a la hora de la publicación de mensajes, se pretende añadir en el código del PIC dos modos de funcionamiento:

Modo 1: publicación permanente (modo por defecto):

• Al encender cada una de las extremidades, los encoders absolutos no publicarán ningún mensaje.
• Cuando arranquemos launchManipulation o launchLocomotion, ambos programas enviarán un mensaje a los encoders absolutos para que comiencen a publicar (start)
• Cuando paremos launchManipulation o launchLocomotion, ambos programas enviarán un mensaje a los encoders absolutos para que dejen de publicar (stop)

Modo 2 (Por petición o “pulling”):

• El PIC mandará el mensaje con la posición del encoder absoluto solo cuando se le indique a éste. En este modo solamente tendrá lugar la publicación de un único mensaje.

Extend BodyBot for simultaneous CAN bus file descriptors

Should be doable through a simple extension of the ICanBusSharer abstract class.

[CuiAbsolute] Incorporate homePoss parameter

[CuiAbsolute] Incorporate homePoss parameter.

[oneCanBusOneWrapper] Segmentation fault

When I run OneCanBusOneWrapper with oneCanBusOneWrapper.ini configurated with canDevice /dev/can1, the program works correctly but after some time... it shows Segmentation fault.

Detecting absolute encoders when failing in launchManipulation or launchLocomotion

Now, when I start launchManipulation or launchLocomotion, the application will realize a tests of all absolute encoders. If all is right, it runs perfectly but if one or some encoders fail, it will show this message:
[info] ICanBusSharerImpl.cpp:31 setIEncodersTimedRawExternal(): Wait to get external encoder value.
Does the application could show which IDs encoders are failing at this time? It can be useful to detect the problem without using dumpCanBus.

[BodyYarp] devices should be shared libraries

[BodyYarp] devices should be shared libraries (currently static).

[dox] Review class documentation

Review doxygen class documentation.

Enable /teo/trunk

Check implementation using Multiwrapper / CBW2.

[CuiAbsolute] Documentación

• Correspondencia IDs y valores en código fuente
• Enlazar URL máquina virtual con entorno MPLAB para programación de PICs de CuiAbsolute

QtCreator in Locomotion PC

I tried to install qtcreator in the LOCOMOTION pc, but failed. Please, can anybody help?
`$ sudo apt-get install qtcreator
...
Failed to fetch http://ftp.es.debian.org/debian/pool/main/q/qtcreator/qtcreator-doc_1.3.1-3_all.deb 404 Not Found
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

$ sudo apt-get update
E: Some index files failed to download, they have been ignored, or old ones used instead.
`
Thanks

Passing all command-line arguments to Property Object

When extracting a group from a Resource Finder, only arguments coming from the config file are passed to the Property Object. Command-line arguments are ignored, and this may cause problems in the future.

Possible solutions:

• Append command line arguments to group arguments coming from the file as a new group in the Property Object
• Add support in YARP for extracting parameters depending on the origin of them (either command-line or file)

Embrace GitFlow

Discuss whether it would be useful or not to use the GitFlow git workflow to improve repository organization and coordination between contributors.

[TechnosoftIpos] Timeout if no absolute encoder message is received

Implement timeout in [TechnosoftIpos] if no absolute encoder message is received, for instance displaying an error message and then continue by defaulting to using relative encoders.

Velocity control fails in hip (joint 14)

Joint 14 of TEO can be moved with position control but not with velocity control.

Velocity control works fine for other joints.

CAN bus launcher apps don't propagate --mode flag to wrapped devices

From gravity compensation tests, mode has to be set explicity further on in the code.

Create image and partition of working manipulation and locomotion OSs

Crear una imagen de los discos duros (backup) y una partición arrancable en los PCs de manipulación y locomoción:

• Crear imagen (copia de seguridad de manipulation, locomotion y head) con FSArchiver y subir .fsa a http://robots.uc3m.es/svn/TEOrepo/backups/.
• Reducir partición actual a un tamaño propicio para realizar un backup
• Crear la nueva partición para el backup
• Utilizar la herramienta FSArchiver para crear una partición (backup) arrancable
• Instalar Ubuntu 14.04 en teo-head

Add blinking lights

As the TV reporters always say, blinking lights make the robot cooler.

[playbackServer] requires a state machine

Consider use of https://github.com/asrob-uc3m/robotDevastation/tree/gameFSM/src/libraries/StateMachineLib.

[TechnosoftIpos] Fix units of velocity control

Right now has something like motor driver Internal Units (IU).

[CI] Set travis and coverage CI frameworks

Set basic CI frameworks, namely travis and coverage.

Avoid "using namespace"

I think, we can add the some solution of Teo-Head for resolve possible conflicts with namespaces that may appear in the future. Can someone resolve it??

Move --log from playbackManipulation and playbackLocomotion to CanBusControlboard

Unify implementation, and will be able to be reused from launchManipulation and launchLocomotion.

[bodybot] Could not open CAN device of path: /dev/can0

When running testBodyBot, I have the following error:

[error] CanBusHico.cpp:13 init(): Could not open CAN device of path: /dev/can0
yarpdev: ***ERROR*** driver <bodybot> was found but could not open
cannot make <bodybot>
yarpdev: ***ERROR*** driver <controlboard> was found but could not open
[error] TestBodyBot.cpp:19 configure(): Class instantiation not worked.
[error] TestBodyBot.cpp:20 configure(): Be sure CMake "ENABLE_BodyYarp_bodybot" variable is set "ON"
[error] TestBodyBot.cpp:21 configure(): "SKIP_bodybot is set" --> should be --> "ENABLE_bodybot is set"

[TechnosoftIpos] Make testing easier!

For now, using a combination of dumpCanBus, launchManipulation and launchLocomotion.
Could we further automate this procedure?

[playbackServer] requires a Cartesian equivalent

[playbackServer] requires a Cartesian equivalent.

[executionCore1] requires: state, 2 dof

requires: state machine, 2 dof movement.

Create robot mockup object

Create robot mockup object for tests.

Merge CAN bus&wrapper loader apps

Are they required?
Should they be replaced by a script that invokes instances of teo-body yarpdev?

Recover from motor driver failures via --recovery option

To recover from motor driver failures.

[TechnosoftIpos] Update vocabs to be yarpmotorgui compatible

Update vocabs to be yarpmotorgui compatible in:
Starting at https://github.com/roboticslab-uc3m/teo-body/blob/7d44548cbba0d171ba8eb6ceecaad70959ac521a/libraries/BodyYarp/TechnosoftIpos/ICanBusSharerImpl.cpp#L249
Replace VOCABS as in roboticslab-uc3m/teo-main@34ceb96

Error installing Gparted in teo-manipulation PC

I have tried to install Gparted with Software Center and it shows an error:

"Requieres installation of untrusted packages: this action would require the installation of packages from not authenticated source. "

In "Edit>Software Sources" I have checked the following options:
officially supported (main)

• DSFG-compatible
• Software with Non-Free Dependencies (contrib)
• Non-DSFG-compatible
• Software (non-free)
• Source code

When I close the options windows it says:

"Failed to download repository information. Check your Internet connection."

Other form (and the easiest) through terminal:

teo@manipulation:~$ sudo apt-get install gparted
[sudo] password for teo:
Reading package lists... Done
Building dependency tree
Reading state information... Done
N: Ignoring file 'google-chrome.list.save' in directory '/etc/apt/sources.list.d/' as it has an invalid filename extension
E: Unable to locate package gparted

Then, I have tried to update the packages list with "sudo apt-get update" but it shows this error:

teo@manipulation:~$ sudo apt-get update
Ign http://ftp.es.debian.org squeeze-updates Release.gpg
Ign http://ftp.es.debian.org/debian/ squeeze-updates/main Translation-en
Ign http://ftp.es.debian.org squeeze-updates Release
Ign http://ftp.es.debian.org squeeze-updates/main Sources/DiffIndex
Ign http://ftp.es.debian.org squeeze-updates/main i386 Packages/DiffIndex
Ign http://ftp.es.debian.org squeeze-updates/main Sources
Ign http://ftp.es.debian.org squeeze-updates/main i386 Packages
Err http://ftp.es.debian.org squeeze-updates/main Sources
404 Not Found
Err http://ftp.es.debian.org squeeze-updates/main i386 Packages
404 Not Found
Get:1 http://security.debian.org squeeze/updates Release.gpg [836 B]
Ign http://security.debian.org/ squeeze/updates/contrib Translation-en
Ign http://security.debian.org/ squeeze/updates/main Translation-en
Ign http://security.debian.org/ squeeze/updates/non-free Translation-en
Hit http://security.debian.org squeeze/updates Release
Get:2 http://ppa.launchpad.net maverick Release.gpg [316 B]
Ign http://ppa.launchpad.net/v-launchpad-jochen-sprickerhof-de/pcl/ubuntu/ maverick/main
Translation-en Ign http://debian.cc.lehigh.edu squeeze/updates Release.gpg
Ign http://debian.cc.lehigh.edu squeeze Release.gpg
Ign http://debian.cc.lehigh.edu/debian/ squeeze/contrib Translation-en
Ign http://debian.cc.lehigh.edu/debian/ squeeze/main Translation-en
Ign http://debian.cc.lehigh.edu/debian/ squeeze/non-free Translation-en
Hit http://ppa.launchpad.net maverick Release
Ign http://http.us.debian.org squeeze Release.gpg
Hit http://security.debian.org squeeze/updates/main i386 Packages
Ign http://http.us.debian.org/debian/ squeeze/contrib Translation-en
Ign http://http.us.debian.org/debian/ squeeze/main Translation-en
Ign http://http.us.debian.org/debian/ squeeze/non-free Translation-en
Ign http://http.us.debian.org squeeze/updates Release.gpg
Ign http://http.us.debian.org squeeze-proposed-updates Release.gpg
Ign http://http.us.debian.org/debian/ squeeze-proposed-updates/contrib Translation-en
Ign http://http.us.debian.org/debian/ squeeze-proposed-updates/main Translation-en
Ign http://http.us.debian.org/debian/ squeeze-proposed-updates/non-free Translation-en
Hit http://ppa.launchpad.net maverick/main i386 Packages
Hit http://security.debian.org squeeze/updates/contrib i386 Packages
Hit http://security.debian.org squeeze/updates/non-free i386 Packages
Ign http://debian.cc.lehigh.edu squeeze/updates Release
Ign http://debian.cc.lehigh.edu squeeze Release
Get:3 http://backports.debian.org squeeze-backports Release.gpg [819 B]
Hit http://backports.debian.org/debian-backports/ squeeze-backports/main Translation-en
Ign http://http.us.debian.org squeeze Release
Ign http://debian.cc.lehigh.edu squeeze/updates/main Sources
Ign http://debian.cc.lehigh.edu squeeze/updates/contrib Sources
Ign http://debian.cc.lehigh.edu squeeze/updates/non-free Sources
Ign http://http.us.debian.org squeeze/updates Release
Hit http://backports.debian.org squeeze-backports Release
Ign http://http.us.debian.org squeeze-proposed-updates Release
N: Ignoring file 'google-chrome.list.save' in directory '/etc/apt/sources.list.d/' as it has an invalid filename extension
E: Release file expired, ignoring http://backports.debian.org/debian-backports/dists/squeeze-backports/Release (invalid since 36d 6h 41min 9s)

I would be very grateful if somebody help me.
Thanks!!

Blinking drivers

When we turn on Teo joints , it's very usual to see problems with blinking drivers.
This problem causes errors when we want to run launchManipulation or especially launchLocomotion. It has been observed that drivers turn to fixed green LED (without blinking red LED) when we wait a time, but you mustn't run “launch” programs. If you try to run launchManipulation or launchLocomotion and the driver continue blinking, you will can't command it. In many occasions, the drivers are blinking and it doesn't work.
Can anybody investigate and resolve this problem?
Thanks! :)

Install yarp (Debian 6.0)

typed:

cmake .. -DCREATE_LIB_MATH=ON -DCREATE_GUIS=ON -DCREATE_OPTIONAL_CARRIERS=ON -DENABLE_yarpcar_mjpeg_carrier=ON

Appears the following CMake error:

CMake Error at CMakeList.txt:5 (cmake_minimun_required): CMake 2.8.9 or higher is required. You are running version 2.8.2

Fix units of motoripos current control

Right now has something like motor driver Internal Units (IU).

Error with yarp starting launchManipulation

When we connect with teo@manipulation and we start launchManipulation, it sais:
[info] main.cpp:58 main(): Checking for yarp network...
[error] main.cpp:61 main(): Found no yarp network (try running "yarpserver &"), bye!

[dumpCanBus] It does not output canBus messages if you use the"build-clean" version

When you start the program, it says:
|| clearing context
||| adding context [dumpCanBus]
||| configuring
||| no policy found
||| default config file specified as dumpCanBus.ini
||| checking /home/teo/git/teo-body/build-clean/bin/dumpCanBus.ini
||| checking [/home/teo/.config/yarp/robots/default](robot YARP_CONFIG_HOME)
||| checking [/home/teo/.local/share/yarp/robots/default](robot YARP_DATA_HOME)
||| checking [/etc/yarp/robots/default](robot YARP_CONFIG_DIRS)
||| checking [/home/teo/teo-body/build/share/teo-body/robots/default](robot YARP_DATA_DIRS)
||| checking [/home/teo/teo-main/build/share/teo/robots/default](robot YARP_DATA_DIRS)
||| checking [/home/teo/teo-body/build/share/teo-body/config/path.d](robot path.d YARP_DATA_DIRS)
||| checking [/home/teo/teo-main/build/share/teo/config/path.d](robot path.d YARP_DATA_DIRS)
||| checking [/home/teo/.config/yarp/contexts/dumpCanBus](context YARP_CONFIG_HOME)
||| checking [/home/teo/.local/share/yarp/contexts/dumpCanBus](context YARP_DATA_HOME)
||| checking [/etc/yarp/contexts/dumpCanBus](context YARP_CONFIG_DIRS)
||| checking [/home/teo/teo-body/build/share/teo-body/contexts/dumpCanBus](context YARP_DATA_DIRS)
||| found /home/teo/teo-body/build/share/teo-body/contexts/dumpCanBus
||| checking [/home/teo/teo-main/build/share/teo/contexts/dumpCanBus](context YARP_DATA_DIRS)
||| checking /home/teo/teo-body/build/share/teo-body/contexts/dumpCanBus/dumpCanBus.ini
||| found /home/teo/teo-body/build/share/teo-body/contexts/dumpCanBus/dumpCanBus.ini
[INFO]created device . See C++ class teo::CanBusHico for documentation.

GIT error: server certificate verification failed

I tried to pull, push... and later clone a git repository on locomotion PC and something went wrong. :'(

error: server certificate verification failed. CAfile: /etc/ssl/certs/ca-certificates.crt CRLfile: none while accessing https://github.com/roboticslab-uc3m/project-generator.git/info/refs

fatal: HTTP request failed