11.11-使用CytonGamma
cyton gamma
前言
- 要操纵机械臂,学习一下基本知识
参考
学习记录
设置波特率(必要时)
sudo stty -F /dev/ttyS0 9600
sudo stty -F /dev/ttyS0 -a
cytonviwer安装
从USB插上机械臂才能够进行实验
cd ~/ProgramFile/Robai/Cyton\ Gamma\ 1500\ Viewer_4.0.12-20160307/bin/
sudo chmod 777 /dev/ttyUSB0
sudo chmod 777 /dev/ttyUSB1
sudo chmod 777 /dev/ttyUSB2
sudo chmod 777 /dev/ttyUSB3
sudo usermod -a -G dialout zs
./cytonViewer
This application failed to start because it could not find or load the Qt platform plugin "xcb".
- 搞了半天没解决,换台电脑试试。
- 换台电脑也一样,需要设置环境变量
export LD_LIBRARY_PATH="/home/zs/catkin_ws/src/cyton_actin_ros_driver/Robai/Cyton Gamma 1500 Viewer_4.0.12-20160307/lib"
export LD_LIBRARY_PATH="/home/zs/Downloads/TestingPackages/sim_ws/src/cyton_actin_ros_driver/Robai/Cyton Gamma 1500 Viewer_4.0.12-20160307/lib"
ros包安装
git clone https://git.lcsr.jhu.edu/ggarime1/cyton_actin_ros_driver.git
cd ./cyton_actin_ros_driver
./cyton_installer.sh
y
y
catkin_make
Viwer 使用
cd '/home/zs/Downloads/TestingPackages/sim_ws/src/cyton_actin_ros_driver/Robai/Cyton Gamma 1500 Viewer_4.0.12-20160307/bin'
./.cytonViewer
- Think of this dragger frame as the desired position of the active end effector of the model. You can move the position and orientation of the dragger by clicking and dragging the mouse. Dragging with the left mouse button changes the translation of the dragger. Dragging with the right mouse button changes the orientation. Scrolling the mouse wheel moves the dragger towards and away from the screen. Holding the x key will constrain the movement to the x axis of the viewer plane, and y will constrain the movement to the y axis of the viewer plane. The robot model will not try and move unless the simulation is running. Run the simulation by clicking play and the robot should follow the guide frame.
ROS包构建
# CMakeLists.txt
# find_package(Boost REQUIRED COMPONENTS thread iostreams-mt filesystem-mt program_options-mt system-mt date_time-mt)
find_package(Boost REQUIRED COMPONENTS thread iostreams filesystem program_options system date_time)
# CytonConfig.cmake
# Make sure we can find the Actin distribution
set(CYTON_ROOT_DIR ${PROJECT_SOURCE_DIR}/Robai/Cyton\ Gamma\ 1500\ Viewer_4.0.12-20160307)
set(toolkits ${CYTON_ROOT_DIR}/toolkits)
set(external ${CYTON_ROOT_DIR}/external)
set(src ${toolkits}/examples/src)
# set(render_inc "${external}/render_OSS-20150520-gcc4.8-amd64/OSG-3.2.1/include" "${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/include")
# set(render_lib "${external}/sensor_OSS-20150520-gcc4.8-amd64/OpenCV-2.4.10/lib" "${external}/sensor_OSS-20150520-gcc4.8-amd64/tiff-3.9.7/lib" "${external}/sensor_OSS-20150520-gcc4.8-amd64/libdc1394-2.1.0/lib" "${external}/sensor_OSS-20150520-gcc4.8-amd64/libraw1394-2.0.2/lib" ${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/lib ${external}/render_OSS-20150520-gcc4.8-amd64/OSG-3.2.1/lib)
# set(qt_moc_path "${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/bin")
# Set directory to include headers
set(CYTON_INCLUDE_DIRS ${CYTON_ROOT_DIR}/include)
set(CYTON_RENDER_INCLUDE_DIRS ${external}/render_OSS-20150520-gcc4.8-amd64/OSG-3.2.1/include ${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/include)
# Set directory to library files.
set(CYTON_LIBRARY_DIRS ${CYTON_ROOT_DIR}/lib ${CYTON_ROOT_DIR}/bin)
set(CYTON_RENDER_LIBRARY_DIRS ${external}/sensor_OSS-20150520-gcc4.8-amd64/OpenCV-2.4.10/lib ${external}/render_OSS-20150520-gcc4.8-amd64/OSG-3.2.1/lib ${external}/render_OSS-20150520-gcc4.8-amd64/Qt-5.3.2/lib ${external}/sensor_OSS-20150520-gcc4.8-amd64/tiff-3.9.7/lib ${external}/sensor_OSS-20150520-gcc4.8-amd64/libjpeg9a/lib)
# set(qt_lib Qt5Core Qt5Gui Qt5Widgets)
# set(osg_lib osg)
# CYTON DEFINITIONS:
set(CYTON_DEFINITIONS -DEC_BUILD_SHARED_LIBS
-DEC_HAVE_ACTIN
-DUNICODE
-D_UNICODE
"-DACTIN_VERSION_MAJOR=4"
"-DACTIN_VERSION_MINOR=0"
"-DACTIN_VERSION_PATCH=12"
"-DACTIN_VERSION=\"4.0.12\"")
########CYTON CONFIGURATION###########
#Can remove some libraries based on application
set(CYTON_LIBRARIES
ecConvertSimulation
ecCytonHardwareInterface
ecSystemSimulation
ecSimulation
ecConvertSystem
ecRendCore
ecVisualization
ecFoundCommon
ecFoundCore
ecXml
ecXmlReaderWriter
ecManipulation
ecManipulationDirector
ecManipulator
ecGeometry
ecControl
ecPathPlanning
ecMatrixUtilities
ecControlCore
ecFunction
ecPlugins
ecRemoteCommand
)
- 下载cyton_gamma_1500_description
- 接下来catkin_make