Teleoperated control of a humanoid robot

Dokumentation

Ausführliche Beschreibung der Arbeit. Hard- und Software Dokumentation. Bedienungsanleitung. Links. Fotos. usw.

Network Configuration ROS to launch Master from your computer & not Poppy

To do this ROS must be installed & working on your computer (or any other machine you want to use)

Determine computer's & Poppy's IP address: (IP_OF_COMPUTER & IP_OF_POPPY)

ifconfig

Confirm connectivity between poppy & your computer:

From your computer run:

ping IP_OF_POPPY

From poppy run:

ping IP_OF_COMPUTER

Computer Setup:

Set ROS_MASTER_URI environment variable:

export ROS_MASTER_URI=http://IP_OF_COMPUTER:11311/

Set ROS_HOSTNAME environment variable:

export ROS_HOSTNAME=IP_OF_COMPUTER

Poppy Setup:

Set ROS_MASTER_URI:

export ROS_MASTER_URI=http://IP_OF_COMPUTER:11311/

Set ROS_HOSTNAME:

export ROS_HOSTNAME=IP_OF_POPPY

Launch Master & Poppy Node:

On the computer open a new terminal and inside your catkin workspace run

roscore

to launch the master

On poppy run inside catkin_ws

roslaunch poppy_pkg poppy-node.launch

to launch the Poppy node

If you run "rosnode list" you should see

/poppy

/rosout

Working commands for ROS poppy:

rostopic pub /poppy/motors/write sensor_msgs/JointState [0,0,'test'] ['head_z','head_y'] [20,-10] [10.0,10.0] [100,100]

rostopic pub /poppy/primitive/arms_copy_motion/start std_msgs/String "'123'"

rostopic pub /poppy/primitive/stand_position/start std_msgs/String "'123'"

How to run Poppy:

ssh poppy@black-poppy.clients.ldv.ei.tum.de

workon poppy

source git/ldv-poppy/catkin_ws/devel/setup.bash

roslaunch poppy_pkg poppy-node.launch

Set Poppy as ROS Master:

export ROS_MASTER_URI = http://white-poppy.clients.ldv.ei.tum.de:11311/

on computer:

export ROS_IP=IP_OF_COMPUTER

ROS package for publishing HTC VIVE locations

https://github.com/robosavvy/vive_ros

Installation instructions: https://github.com/robosavvy/vive_ros/blob/master/INSTALL.md

Install Steam on Linux:

Link for Steam installation (Linux): https://store.steampowered.com/about/

1. Navigate to folder where "steam_latest.deb" was saved
2. Before running 3, I had to install: "sudo apt-get install curl python-apt zenity"
3. Install .deb file with "sudo dpkg -i steam_latest.deb"
4. Open Steam & installation routine should start
5. SteamVR can be installed from the Steam User Interface

pyopenvr: https://www.roadtovr.com/how-to-use-the-htc-vive-tracker-without-a-vive-headset/ 

                 https://gist.github.com/DanielArnett/c9a56c9c7cc0def20648480bca1f6772

Dateien

Projektplan: