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资源说明：Whole-Body Control project, University of Texas at Austin
Whole-Body Control for Human-Centered Robotics, UT Austin
=========================================================
**UNDER CONSTRUCTION**
This project builds on top of the joint-space dynamics library from
the Stanford Whole-Body Control Framework http://stanford-wbc.sf.net/
in order to provide operational-space control for robots interacting
physically with everyday environments. The main developers are Luis
Sentis and Roland Philippsen.
Getting Started
---------------
Grab the code like this (note: we ditched the `git submodule` setup in favor of `git-subtree`):
git clone git://github.com/poftwaresatent/utaustin-wbc.git
cd utaustin-wbc
And then build it like so (unless you have a Meka arm, see below):
mkdir build
cd build
cmake ..
make
You probably want to point CMake to your installation of [gtest][],
for instance if you have [ROS][] installed do something like this:
[gtest]: http://code.google.com/p/googletest/
[ROS]: http://ros.org/
cmake .. -DGTEST_DIR=/opt/ros/cturtle/ros/3rdparty/gtest/gtest
Finally, see if you can run the test:
./opspace/testTask
Running the RTAI shmem controller on the Meka arm
-------------------------------------------------
Make sure you have correctly configured your M3_ROBOT environment
variable in all shells, e.g. by placing something like this into your
~/.bashrc:
export M3_ROBOT=/home/meka/mekabot/m3uta
Build the entire utaustin-wbc in release mode, pointing it to the
Meka/RTAI sources:
mkdir release
cd release
cmake .. -DCMAKE_BUILD_TYPE=Release -DM3_DIR=/home/meka/mekabot/m3
make
Again, you might want to add
`-DGTEST_DIR=/opt/ros/cturtle/ros/3rdparty/gtest/gtest` or similar as
well.
Start the Meka/RTAI controller (you may first need to `su -l` to the
account under which M3_ROBOT resides due to log file ownership
issues), passing it the -m flag to put it into torque/shm control
mode:
m3rt_server_run -m
Make sure the robot's safety button is OFF, then start the
`m3_apps/servo` program. Use its `-h` option to get a help message.
cd /path/to/opspace/release
./m3_apps/servo -r ../config/m3_with_hand.xml -s ../config/float.yaml -v
Hold on to the robot and switch the safety button on.
Note that you can stop and restart the `m3_apps/servo` without
restarting the `m3rt_server_run` process. However, if you do want to
stop and restart everything, the following **shutdown sequence** needs
to be strictly followed in order to avoid creating zombie RTAI
processes:
1. Hit Ctrl-C in the `m3_servo` terminal.
2. Hit Ctrl-C in the `m3rt_server_run` terminal.
3. Run `m3rt_server_kill` if that fails (or run it all the time
anyway just for good measure).
License
-------
The `utaustin-wbc` project is released under a new-style BSD
license. Most of it is Copyright (C) University of Texas at Austin.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of
contributors to this software may be used to endorse or promote
products derived from this software without specific prior written
permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHORS AND CONTRIBUTORS ``AS IS''
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
HOLDER OR THE CONTRIBUTORS TO THIS SOFTWARE BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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