DYROS TOCABI V2

---

Introduction to tocabi v2

This project is upgraded version of TOCABI controller
Ethercat Master is divided from tocabi controller for stability, unlike previous version.
Communications between processes are established with shared memory and ros topics.
Real-time scheduling is applied to all main thread.
For strict real-time scheduling performance, cpu must be isolated for real-time scheduling with isolcpus command, realtime stability improves (No losing data with isolcpus.. )

---

• Dyros Tocabi V2
  • tocabi_controller
    • main controller !!
  • tocabi_description
    • description package for TOCABI (urdf, xml, safety settings ... )
  • tocabi_ecat
    • Tocabi Ethercat Master based on SOEM
  • tocabi_msgs
    • ROS Message definitons required for task command and status check
  • tocabi_lib
    • tocabi link and data container librariy
  • tocabi_sensor
    • tocabi sensor managament package. imu, ft
  • tocabi_moveit_config
    • moveit_config of tocabi
  • tocabi_cc [external]
    • custom controller for tocabi !
  • tocabi_avatar [external]
    • avatar controller for tocabi !
  • tocabi_gui [external]
    • gui of tocabi

---

Installation

0. prerequisities

• This project was developed with Ubuntu 20.04, ROS Noetic
• ⚠️Other ubuntu version might cause error!⚠️
• Realrobot mode is developed and works stable at Xenomai.
• Developed xenomai Version is Xenomai 3.1.1, linux kernel version is linux-5.4.124

1. clone repository

cd catkin_ws/src
git clone --recurse-submodules https://github.com/saga0619/dyros_tocabi_v2

2. CustomController (optional)

cd catkin_ws/src
git clone https://github.com/saga0619/tocabi_cc

3. AvatarController (optional)

cd catkin_ws/src
git clone https://github.com/saga0619/tocabi_avatar

4. GUI

sudo apt install qtbase5-private-dev libqt5x11extras5*
cd catkin_ws/src
git clone https://github.com/saga0619/tocabi_gui

5. Simulator

• You need mujoco license!
• Visit https://www.roboti.us/license.html for license information
• place license file at ~/mjkey.txt

cd catkin_ws/src
git clone https://github.com/saga0619/mujoco_ros_sim

6. All-in-One Requirements installation

cd catkin_ws/src/dyros_tocabi_v2
sudo ./install_prereq.sh

• launch ./install_prereq.sh and select simulation installation or realrobot installation.

7. build catkin_ws

• build with catkin_make or catkin build
• to build real-robot packages at non-xenomai pc, add FORCE_REALROBOT = ON argument.
  • catkin_make -DFORCE_REALROBOT=ON
  • catkin build --cmake-args -DFORCE_REALROBOT=ON

8. Individual installation (**If All-in-One script is not working ...)

mscl installation

• download MSCL

wget https://github.com/LORD-MicroStrain/MSCL/releases/download/v52.2.1/c++-mscl_52.2.1_amd64.deb
sudo dpkg -i c++-mscl_52.2.1_amd64.deb

SOEM installation

git clone https://github.com/saga0619/SOEM
cd SOEM
mkdir build
cd build
cmake ..
make all
sudo make install

RBDL installation

git clone https://github.com/saga0619/rbdl-orb
cd rbdl-orb
mkdir build
cd build
cmake ..
make all
sudo make install

• If controller can't find librbdl.so.2.6.0, Add following line to .bashrc

echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib'>>~/.bashrc
sudo ldconfig

qpOASES installation

git clone https://github.com/saga0619/qpoases
cd qpoases
mkdir build
cd build
cmake ..
make all
sudo make install

Kvaser installation

wget --content-disposition "https://www.kvaser.com/download/?utm_source=software&utm_ean=7330130980754&utm_status=latest"
tar xvzf linuxcan.tar.gz
cd linuxcan
make all
sudo make install

How to Launch

Simulation

• simulation with gui : roslaunch tocabi_controller simulation.launch
• simulation without gui : roslaunch tocabi_controller simulation.launch gui:=false

Realrobot

• requires sudo authority

sudo -s
roslaunch tocabi_controller realrobot.launch

launch sim or realrobot with hand

• to launch simulation or realrobot with hands, launch with hand:=true
• roslaunch tocabi_controller simulation.launch hand:=true
• roslaunch tocabi_controller realrobot.launch hand:=true

launch gui

• gui only version : rosrun tocabi_gui tocabi_gui
• gui with rviz of tocabi model : roslaunch tocabi_gui gui.launch

ethercat test

• requires sudo authority : sudo -s
• run with rosrun tocabi_ecat tocabi_ecat {ethernet_port} {period_us} {driver_num}
• ex) eth0 port with 500 us, 33 motors..

sudo -s
rosrun tocabi_ecat tocabi_ecat eth0 500 33

• you can check ethernet port name with ifconfig command at terminal

reset Shared Memory

• if something goes wrong ... (ethercat commanding ... +@)
• reset shared memory with rosrun tocabi_controller shm_reset
• may need sudo -s

---

Todo

• link F/T sensor