diff --git a/doc/Calibration.md b/doc/Calibration.md index 7ab531b..977aa1e 100644 --- a/doc/Calibration.md +++ b/doc/Calibration.md @@ -34,16 +34,16 @@ For this step, you must have configured all the parameters mentioned in the prev 4) Place the calibration object on Bolt while the simulation is running. - ![Bolt With Object](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Calibration_Bolt_1-R.jpeg?raw=true "Bolt with object") - ![Bolt With Object](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Calibration_Bolt_2-R.jpeg?raw=true "Bolt with object") + ![Bolt With Object](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Calibration_Bolt_1-R.jpeg?raw=true "Bolt with object") + ![Bolt With Object](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Calibration_Bolt_2-R.jpeg?raw=true "Bolt with object") 5) When the object is placed, press `Ctrl + C` to stop the simulation and take one of the latest return values. - ![Bolt Calibration Values](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Calibration_Bolt_3-R.jpeg.png?raw=true "Bolt Calibration Values") + ![Bolt Calibration Values](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Calibration_Bolt_3-R.jpeg.png?raw=true "Bolt Calibration Values") -6) Open file `ros2_control_bolt/ros2_description_bolt/src/bolt_config.yaml` and paste the values in the variable **position_offsets (line 30)**, save the file and do a colcon build at `Bolt_ws/`. +6) Open file `odri_bolt_robot/odri_bolt_description/src/bolt_config.yaml` and paste the values in the variable **position_offsets (line 30)**, save the file and do a colcon build at `Bolt_ws/`. - ![Offset Change](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Calibration_Bolt_4-R.png?raw=true "Offset Change") + ![Offset Change](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Calibration_Bolt_4-R.png?raw=true "Offset Change") 7) If you want to change the way each motor finds its Index, go to line 26 at Search_methods and change it as you wish (by default, everything is set to POS): diff --git a/doc/Forward_Position_Bolt.md b/doc/Forward_Position_Bolt.md index cea6762..0a782dd 100644 --- a/doc/Forward_Position_Bolt.md +++ b/doc/Forward_Position_Bolt.md @@ -8,7 +8,7 @@ After you've followed all previous tutorials, you have all the knowledge require ## Set the positions -To move Bolt as you wish, you can use a `controller`. For this you will just need a few points from each joint. To find the points you want to send to Bolt, you can use the file [demo_bolt_sensor_reading.cpp](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_hardware_interface_bolt/test/demo_bolt_sensor_reading.cpp): +To move Bolt as you wish, you can use a `controller`. For this you will just need a few points from each joint. To find the points you want to send to Bolt, you can use the file [demo_bolt_sensor_reading.cpp](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/ros2_hardware_interface_bolt/test/demo_bolt_sensor_reading.cpp): - Open a Terminal and source Bolt : @@ -20,7 +20,7 @@ To move Bolt as you wish, you can use a `controller`. For this you will just nee - Move the robot to where you want it to go and press `Ctrl-C` to stop the file `demo_bolt_sensor_reading` running. -- Copy the last value in your Terminal and paste it in the file [bolt_forward_position_publisher.yaml](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/odri_bolt_bringup/config/bolt_forward_position_publisher.yaml), at `line 8` +- Copy the last value in your Terminal and paste it in the file [bolt_forward_position_publisher.yaml](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_bringup/config/bolt_forward_position_publisher.yaml), at `line 8` `pos1` - Repeat this as many times as you want , just pass the next position in the yaml file to pos2 etc... diff --git a/doc/Launch.md b/doc/Launch.md index 978bcd1..37007bb 100644 --- a/doc/Launch.md +++ b/doc/Launch.md @@ -37,13 +37,13 @@ You may need to setup 2 things to run a launch file : When you run a launch file with a node in sudo (in real time), the sudo user and your user can't talk to each other. To resolve this problem, you have to add a file inside your directory. - Don't panic, the file is already add in the bolt directory [FastRTPS.xml](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/ros2_description_bolt/config/FastRTPS.xml). But you have to call him every time you run a launch file, for that add this command in your `bashrc` : + Don't panic, the file is already add in the bolt directory [FastRTPS.xml](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_description/config/FastRTPS.xml). But you have to call him every time you run a launch file, for that add this command in your `bashrc` : - export FASTRTPS_DEFAULT_PROFILES_FILE= + export FASTRTPS_DEFAULT_PROFILES_FILE= Where `` is your path to the file `FasrRTPS.xml` from the root `"cd /"`. For example for bolt the right command is : - export FASTRTPS_DEFAULT_PROFILES_FILE=users/local//Bolt_ws/src/ros2_control_bolt/ros2_description_bolt/config/FastRTPS.xml + export FASTRTPS_DEFAULT_PROFILES_FILE=users/local//Bolt_ws/src/odri_bolt_robot/odri_bolt_description/config/FastRTPS.xml **After that, you know every thing, and you have set every thing to run your first launch file.** @@ -82,13 +82,13 @@ Now you can really play with Bolt, if you have followed correctly each tutorial you will see that list : - ![Topic List](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/ros2_control_bolt_tuto/pictures/Launch_Bolt_1-R.png?raw=true "Topic List") + ![Topic List](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Launch_Bolt_1-R.png?raw=true "Topic List") - run the topic `/joint_states` : ros2 topic echo /joint_states - ![/join_states](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/ros2_control_bolt_tuto/pictures/Launch_Bolt_2-R.png?raw=true "/join_states") + ![/join_states](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Launch_Bolt_2-R.png?raw=true "/join_states") **You can see all the parameters of Bolt in real time !** diff --git a/doc/Setup_Bold.md b/doc/Setup_Bold.md index abab316..e0d039c 100644 --- a/doc/Setup_Bold.md +++ b/doc/Setup_Bold.md @@ -31,24 +31,24 @@ 2) Take your `power supply`, turn it on and adjust behind the power supply the port (P1/P2/P3) and set the mode to `SET` then set the voltage to `20V` and the amperage to `5A` on the front. Finally, set the mode to `NORMAL`. -![Behind alimentation](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Setup_Bolt_1-R.jpeg?raw=true "Behind alimentation") +![Behind alimentation](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_1-R.jpeg?raw=true "Behind alimentation") 3) Connect the `emergency stop button` to the `power supply` (from behind,and not in front) : - ![Not Front](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Setup_Bolt_2-R.jpeg?raw=true "Not Front") - ![Behind](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Setup_Bolt_3-R.jpeg?raw=true "Behind") + ![Not Front](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_2-R.jpeg?raw=true "Not Front") + ![Behind](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_3-R.jpeg?raw=true "Behind") 4) Connect the other end of the `emergency button` to the robot and the `Ethernet cable` to your computer. - ![Button Connection](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Setup_Bolt_7-R.jpeg?raw=true "Buttun Connection") + ![Button Connection](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_7-R.jpeg?raw=true "Buttun Connection") 5) Connect the `power cable` to `Bolt`, one end to the Ethernet port of the `Master-Board` and the `power cable inside Bolt`. - ![Bolt Connection](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Setup_Bolt_4-R.jpeg?raw=true "Connection") + ![Bolt Connection](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_4-R.jpeg?raw=true "Connection") 6) Check if any cable is `plugged out` of the `Master-Board` (below Bolt). - ![Connection Master-Board](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Setup_Bolt_5-R.jpeg?raw=true "Master-Board Connection") + ![Connection Master-Board](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_5-R.jpeg?raw=true "Master-Board Connection") 7) Finally, `unlock the emergency stop button` and `power on` the `supply power`. @@ -82,7 +82,7 @@ - Copy and paste the right port in the file : - Bolt_ws/src/ros2_control_bolt/ros2_description_bolt/config/bolt_config.yaml + Bolt_ws/src/odri_bolt_robot/odri_bolt_description/config/bolt_config.yaml at : interface : (line 4) diff --git a/doc/Start.md b/doc/Start.md index d80311f..9be3616 100644 --- a/doc/Start.md +++ b/doc/Start.md @@ -53,7 +53,7 @@ You need to have a `clear workspace` to do some tests or find your files easily. You need to have `git tool install` - git clone --recursive https://github.com/stack-of-tasks/ros2_control_bolt.git + git clone --recursive https://github.com/stack-of-tasks/odri_bolt_robot.git 5) Add some `dependencies` of Bolt (in the src file) : @@ -82,13 +82,13 @@ Every time you change something in your code you need to upload with a `colcon b 4) If everything install properly you must come to this end when you do your `first colcon build` : -![Colcon Build](https://github.com/Benjamin-Amsellem/ros2_control_bolt/blob/master/ros2_control_bolt_tuto/pictures/Start_Bolt_1-R.png?raw=true "Colcon Build") +![Colcon Build](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Start_Bolt_1-R.png?raw=true "Colcon Build") 5) To only `update a part` of your code you changed, you can do this : - colcon build --packages-select ros2_description_bolt + colcon build --packages-select odri_bolt_description - This example is only here for updating the package ros2_description_bolt + This example is only here for updating the package odri_bolt_description **Now you have all you need for the project and you know how to do Colcon Build**