Test Installation

Table of contents 目次

• ay_util/Kinematics Simulation
• ay_trick
• ay_py/Standalone Mikata Arm control
• fingervision
• ay_sim

ay_util/Kinematics Simulation †

Let's launch a kinematic simulation of Mikata arm:

 $ roslaunch ay_util mikata_rot_ksim.launch

You will see RViz window. If nothing is shown in rviz,

• Add RobotModel to display the robot.
• Change "Global Options -> Fixed Frame" to "base_link".

Press Ctrl+C to quit.

ay_trick †

Run to execute the kinematic simulation of Mikata arm:

 $ roslaunch ay_util mikata_rot_ksim.launch

Then run CUI tool of ay_trick.

 $ rosrun ay_trick cui_tool.py

In the CUI tool, type some commands:

 trick or quit> robot 'mikatas'
 trick or quit> moveq 1
 Move to q: [1.914316229955623e-06, -0.04694073844180478, 1.0316071071894901, -0.9846663687476853]
 trick or quit> q
 [1.9142821433384576e-06, -0.04693990260760159, 1.0315887382303925, -0.9846488356227909]

If the robot in RViz moves, it is correctly installed.

ay_py/Standalone Mikata Arm control †

Although Mikata Arm control is unified with the ROS system where its simulation is available, we can still use it as a standalone program with the core Python library ay_py.

Note: We need Mikata Arm connected with USB (/dev/ttyUSB0).

 $ cd ~/ros_ws/ay_tools/ay_py/
 $ cd demo/mikata/
 (Run programs, e.g.)
 $ ./move_to.py

If the arm is connected to other port, modify the program as follows: Change the initialization of TMikata as follows (/dev/ttyUSB1 is an example):

mikata= TMikata(dev='/dev/ttyUSB1')

fingervision †

This section is copied from FingerVision/Software/Installation#Test.

With dummy data (no actual FingerVision sensors are necessary):

 $ rosrun fingervision stream_file1.sh

Access http://localhost:8080/stream.html and http://localhost:8081/stream.html to see the video streams of dummy data.

This program can be quit by pressing Enter.

Run some standalone programs:

 $ cd (fingervision directory)
 $ cd standalone/
 (Just play the video stream)
 $ ./capture.out fv_3_l.yaml
 (Marker tracking demo; Press c to calibrate)
 $ ./blob_tracker2_test.out fv_3_l.yaml
 (Proximity vision demo)
 $ ./prox_vision_test.out fv_3_l.yaml

Note: In blob_tracker2_test.out and prox_vision_test.out, the calibration is done automatically at the beginning of the program. Press c to calibrate again. Note that the calibration of blob_tracker2_test.out is not good in this setup since typically we use white background during the calibration.

Press q to quit each program.

Launch FingerVision data processing program (ROS version):

 $ roslaunch fingervision fv_3_filtered.launch

You will see four windows. This demo starts fv_core_node for the two video streams. The calibration of the marker tracker is loaded from the files. It also launches a filter to the raw data.

Check the ROS topics (do this in another terminal):

 $ rostopic list
 /fingervision/fv_3_l/blob_moves
 /fingervision/fv_3_l/prox_vision
 /fingervision/fv_3_l/wrench
 /fingervision/fv_3_r/blob_moves
 /fingervision/fv_3_r/prox_vision
 /fingervision/fv_3_r/wrench
 /fingervision/fv_filter1_objinfo
 /fingervision/fv_filter1_wrench

Echo some of them to see the content of the topic:

 $ rostopic echo /fingervision/fv_3_l/wrench

rostopic echo and fingervision fv_3_filtered.launch can be quit by Ctrl+C.

ay_sim †

Launch a pouring simulator with:

 $ roslaunch ay_sim ode_grpour_sim1.launch

Play with the keyboard: moving the container (q,w,e,a,s,d,z,x), reset (r).

Use Ctrl+C to quit.