From 6bf62fa8bd4ddf2c56b82f9e285c60d06f1665c6 Mon Sep 17 00:00:00 2001 From: Olivier Stasse Date: Sat, 20 Jan 2024 09:57:43 +0100 Subject: [PATCH] Update images links. --- doc/Calibration.md | 8 ++++---- doc/Forward_Position_Bolt.md | 4 ++-- doc/Launch.md | 10 +++++----- doc/Setup_Bold.md | 12 ++++++------ doc/Start.md | 2 +- 5 files changed, 18 insertions(+), 18 deletions(-) diff --git a/doc/Calibration.md b/doc/Calibration.md index 977aa1e..5bb0594 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/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") + ![Bolt With Object](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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/main/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/stack-of-tasks/odri_bolt_robot/blob/master/doc/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/main/doc/pictures/Calibration_Bolt_3-R.jpeg.png?raw=true "Bolt Calibration Values") 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/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Calibration_Bolt_4-R.png?raw=true "Offset Change") + ![Offset Change](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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 0a782dd..6411414 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/stack-of-tasks/odri_bolt_robot/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/main/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/stack-of-tasks/odri_bolt_robot/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/main/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 37007bb..6f7df62 100644 --- a/doc/Launch.md +++ b/doc/Launch.md @@ -11,11 +11,11 @@ After you've followed all previous tutorials, you have the required knowledge t Launch files are code in python, we make them to creating `commands lines` and `launch some nodes`. They are really useful because when we run them we can run a lot of nodes and commands lines at the same time. -All the launch files can be found in the [odri_bolt_bringup](https://github.com/stack-of-tasks/odri_bolt_robot/tree/master/odri_bolt_bringup), we can run them separately. For example, we will see the file [bolt_system_position_only.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_bringup/launch/bolt_system_position_only.launch.py): +All the launch files can be found in the [odri_bolt_bringup](https://github.com/stack-of-tasks/odri_bolt_robot/tree/main/odri_bolt_bringup), we can run them separately. For example, we will see the file [bolt_system_position_only.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/odri_bolt_bringup/launch/bolt_system_position_only.launch.py): When you start a launch file you need to `declare the description` of your launch and inside you declare every argument you need. After having declared every argument, you `initialize` them with what you want to do. -At the end, you `launch your argument`, then you run another launch file call [bolt.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/master/odri_bolt_bringup/launch/bolt.launch.py). And in this launch you’ll see the same structure and at the end you run 5 different `Nodes` and run some `commands`. +At the end, you `launch your argument`, then you run another launch file call [bolt.launch.py](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/odri_bolt_bringup/launch/bolt.launch.py). And in this launch you’ll see the same structure and at the end you run 5 different `Nodes` and run some `commands`. If you need to launch a `real time node`, you must call them as a `Owner user` with the `sudo` command. @@ -37,7 +37,7 @@ 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/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` : + Don't panic, the file is already add in the bolt directory [FastRTPS.xml](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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= @@ -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/doc/pictures/Launch_Bolt_1-R.png?raw=true "Topic List") + ![Topic List](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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/doc/pictures/Launch_Bolt_2-R.png?raw=true "/join_states") + ![/join_states](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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 e0d039c..01eb493 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/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_1-R.jpeg?raw=true "Behind alimentation") +![Behind alimentation](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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/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") + ![Not Front](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/doc/pictures/Setup_Bolt_2-R.jpeg?raw=true "Not Front") + ![Behind](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_7-R.jpeg?raw=true "Buttun Connection") + ![Button Connection](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_4-R.jpeg?raw=true "Connection") + ![Bolt Connection](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Setup_Bolt_5-R.jpeg?raw=true "Master-Board Connection") + ![Connection Master-Board](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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`. diff --git a/doc/Start.md b/doc/Start.md index 9be3616..46075b2 100644 --- a/doc/Start.md +++ b/doc/Start.md @@ -82,7 +82,7 @@ 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/stack-of-tasks/odri_bolt_robot/blob/master/doc/pictures/Start_Bolt_1-R.png?raw=true "Colcon Build") +![Colcon Build](https://github.com/stack-of-tasks/odri_bolt_robot/blob/main/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 :