> On 22 Apr 2018, at 19:48, sliptonic <[email protected]> wrote: > > > > On Sunday, April 22, 2018 at 7:13:49 AM UTC-5, Bas de Bruijn wrote: > > > 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. > > I found the 'hello world' repo in your github account > <https://github.com/luminize/ros_hello_machinekit>. This doesn't seem like a > complete example, though. Are you doing the initialization and homing in the > scripts here? What about your URDF and moveit config?
initialisation, homing of motors etc. is all done thru a patchwork of various shell and python scripts. The URDF files and moveit configuration are here: https://github.com/luminize/matilda_moveit_config <https://github.com/luminize/matilda_moveit_config> https://github.com/luminize/matilda_support <https://github.com/luminize/matilda_support> you need to have this one, cause it’s called by the launch files https://github.com/luminize/listener2 <https://github.com/luminize/listener2> > >> 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. > > What will a 'ros_control resource' do that can't be done now? Is this just > packaging and discoverability or are you talking about core functionality? ros control is the “standard” of ros controlling to hardware https://github.com/machinekit/machinekit/issues/689#issuecomment-189908110 <https://github.com/machinekit/machinekit/issues/689#issuecomment-189908110> https://github.com/machinekit/machinekit/issues/689#issuecomment-190164347 <https://github.com/machinekit/machinekit/issues/689#issuecomment-190164347> > >> 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. > > I think the existing HAL documentation as reference material is fine. What I > am looking for is more example projects -- things that demonstrate both HOW > to do something but also show WHY Machinekit/HAL is the right tool for the > job. > > These are some really interesting tools but there doesn't seem to be much > activity around using them outside the CNC context. I'd like to see more > end-to-end projects, especially where HAL/Machinekit is doing something that > would be much harder or impossible otherwise. Personally, I do a lot thats _not_ CNC related. So what you’re asking is what steps to take to “make project x do something” something like: setup of HAL show how/why to use some tools like halscope make a python application using HAL ? > >> Here's a link to my blog with a video I made a couple weeks ago: >> http://sliptonic.com/lenny-the-big-dumb-bot/ >> <http://sliptonic.com/lenny-the-big-dumb-bot/> > > That's a nice sturdy looking robot! > > Thanks. It really is a nice piece of hardware -- servo driven harmonic > drives. I'd really like to do something cool with it. >> 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 <http://www.machinekit.io/> blog: > http://blog.machinekit.io <http://blog.machinekit.io/> github: > https://github.com/machinekit <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] > <mailto:[email protected]>. > Visit this group at https://groups.google.com/group/machinekit > <https://groups.google.com/group/machinekit>. > For more options, visit https://groups.google.com/d/optout > <https://groups.google.com/d/optout>. -- 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.
