I'v put this on a new thread so it can be easier to find. Originating thread: https://groups.google.com/forum/m/#!topic/machinekit/oxctaPp4n8Q
> On 21 Apr 2018, at 18:21, sliptonic <[email protected]> wrote: > > >> On Friday, April 20, 2018 at 4:19:36 PM UTC-5, Bas de Bruijn wrote: >> >> >> What do you want to know? It's pretty hard to write something a la "Here's >> everything i know". >> >> Do you have a (Preferrably non CNC) project in mind? > > A couple years ago I bought a scara bot just to play with. No serious plans, > just a learning platform for things like ROS, FreeCAD robot workbench and > machinekit on a deeper level. > I can now control it like a CNC machine but that's not what I want. Maybe I > want to do something silly like sort coins or pick out blue legos. Yeah, that Lego sorting problem I know. I've helped with that a few times, but after 2 months all is mixed again and they "can't find" the pieces anymore. > I understand conceptually how ROS works but ROS learning curve is a bitch so > getting from concept to actually controlling the robot is going to be a > process. Yes it is. > Now that I can control it in Machinekit like a CNC, how do I start connecting > it to ROS? The stuff I did a few years ago was creating a node which listens to a ROS joint_path_command topic, jointtrajectory message. These segments (point1 time1, point2 time2, etc) are put in a HAL ringbuffer. Then on the HAL side, the ringbuffer samples are read, and interpolated. Which results in a position-cmd per HAL cycle (1ms for example) So in a nutshell: ROS does planning in non-RT and Machinekit Hal does the playout. Mind: you still have to take care of initializing your hardware, homing joints etc. ROS doesn't do that. Also creating you robot model urdf and making moveit configurations for that. > What's realistically possible with the current state of machinekit? Short now: interpolate segments in HAL and use the values further on, with whatever HAL logic/setup you come up with Later: HAL as a ros_control resource. > My questions are probably newbie which is why I was looking for blogs and > examples to study. Apart from the ROS learning curve, I think that the big issue is that the legacy cnc documentation is irrelevant for setups that do not use CNC. Also, the focus has not been on HAL. Before I even think of writing stuff i'd like to know what you all want to know. There's been a lot of effort put into making the documentation easier to work with, but that does not mitigate the outdated content. So updating HAL focused content: what questions would you like to have answered that are not here: http://www.machinekit.io/docs/index-HAL/ Then I'll try to come up with some tutorial/steps which we can all discuss. And if the outcome is something sensible I'll put that to the docs. > Here's a link to my blog with a video I made a couple weeks ago: > http://sliptonic.com/lenny-the-big-dumb-bot/ That's a nice sturdy looking robot! > Sorry OP, I didn't mean to hijack this thread. Feel free to split it out or > I'll start a new thread. -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
