Test scripts

All scripts have communication with the robots using platform specific APIs without any wrapper libraries.

Dependencies

Robot APIs

• kortex-api 2.6.0 for Kinova Gen3

Note

kortex API should be upgraded to 2.7.0

Kinematics and Dynamics Libraries

• orocos_kdl

Utilities

• kdl_parser

Setup

• Clone the repository,

• A sample of root directory:

  ├── bin/
  ├── gen3.urdf
  ├── install/
  ├── kdl_parser/
  ├── Makefile
  ├── orocos_kinematics_dynamics/
  ├── README.md
  └── src/
  

• Install required system libraries using apt:

  sudo apt-get install libtinyxml-dev liburdfdom-dev liburdfdom-headers-dev
  

• Setup kdl_parser

  make kdl_parser_setup

• Setup kortex_api

  make kortex_setup

• For each dependency (in general):

  • Navigate to the directory where CMakeLists.txt is located
  • Create a build directory at the same level:

    mkdir build && cd build
    

  • Run CMake, specifying the path to the install directory from step

    cmake .. -DCMAKE_INSTALL_PREFIX=<absolute_path_to_install_directory>
    

  • Compile and install the package:

    make
    make install
    

Build

• The executable is generated in bin/ folder

kdl_gc

Computes gravity compensation torques for Kinova Gen3 using RNEA from KDL

make kdl_gc

kinova_read

Reads data from Kinova Gen3 and computes gravity comp. torques using RNEA from KDL

make kinova_read

kinova_kdl_gc

Computes gravity comp. torques using RNEA from KDL and commands them to the robot

make kinova_kdl_gc

kinova_kdl_gc_ctrl

• Computes gravity comp. torques using RNEA from KDL, and apply P-control to control the drift.
• Also, commands them to the robot

make kinova_kdl_gc_ctrl

kinova_admittance

• Make use Admittance API from the base to set the arm into admittance mode.
• Also shows switch from admittance mode to torque control mode.