Common interface for controlling robots build with the odri master board.
We use treep to download the required packages. Make sure your ssh key is unlocked. Then
mkdir -p ~/devel
pip install treep # This installs treep
cd ~/devel
git clone [email protected]:machines-in-motion/treep_machines_in_motion.git
treep --clone master-board
treep --clone odri_control_interface
We use colcon to build this package:
cd mkdir -p ~/devel/workspace
colcon build
You find examples in forms of demos under the demos/ folder. The demos show how to use the python and C++ interface for talking to the library and setting up a robot.
If you're using nix, you can get into a shell with all required packages available, including the C++-backed python packages
nix develop .#python
Since the SDK forges raw ethernet frames, you need to run these scripts as root (run it in a shell that has the dependencies installed and PYTHONPATH set):
sudo -HE env PATH=$PATH PYTHONPATH=$PYTHONPATH python demos/demo_testbech_joint_calibrator.py
Note that running within a network-mounted directory (e.g. using NFS) might result in a "Permission denied" error when trying to make python execute the script as root, even when all users have the read permission set.
(LAAS members: this is the case for your home directory when using office computers)
C++ demos also need to be run as root. Compilation produces binaries named odri_control_interface_*. (nix: you can do nix run .#testbench or nix run .#solo12)
Change the Ethernet interface the master board is plugged to by editing the relevant config_*.yaml file, then re-build the binaries
You can get the ethernet interface by runnning ip a
License BSD-3-Clause Copyright (c) 2021, New York University and Max Planck Gesellschaft.