Hi Tom,
You've had some good advice on the low-level HAL integration already.
Once you have all your joints and I/O connected up to HAL and you're
ready to connect the robot up to MoveIt! and the rest of ROS, check out
the hal_ros_control software [1] that @luminize, @machinekoder and I
have written. It will hook into your `moveit_setup_assistant`
configuration with little fuss, and you'll be moving your robot through
RViz in no time.
Good luck!
[1]: https://github.com/zultron/hal_ros_control/
John
On 5/4/20 2:18 AM, Tom M wrote:
Hi Guys,
Members of our hackerspace Workshop 88 <http://www.workshop88.com/> have
acquired 3 Scorbot Er-3 with controllers. We've tested them out and
the bot's who we've named Huey, Dewey and Louie all seem to be working well.
We'd like to use Ros on those bots, but the issue is how to get there.
I was reading Alex Rössler post about machinekit and Ros at
https://machinekoder.com/machinekit-ros-open-source-robots/ and it seems
like this might be an approach worth trying.
Seb Kuzminsky used linuxcnc on a scorbot Er-3 with the existing control
https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/user_comps/scorbot-er-3.py
<https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/user_comps/scorbot-er-3.py>
https://github.com/LinuxCNC/linuxcnc/tree/master/configs/by_machine/scorbot-er-3
<https://github.com/LinuxCNC/linuxcnc/tree/master/configs/by_machine/scorbot-er-3>
I've been corresponding with him on this and he said that this approach
resulted in jerky motion since linuxcnc was communicating of a 9600 baud
serial line.
He wound up replacing the control and creating a new controller with
Mesa 7i43 (EPP Hostmot2 card), a Mesa 7i54 (Six channel 3A 40V Servo
interface),
We've been toying with a couple approaches:
One approach would be to replace the controller and build a servo
interphase using arduino nano's and a L298 motor drivers:
https://www.youtube.com/watch?v=vHufLMh4xEI
and either use a pc or bbb to handle the motion planning.
We've been studying the Scorbot controller and it is well made and fully
socketed. We were thinking that we could lobotimizing the control by
yanking the 8031 control. 15 pins basically access everything on the
board.
It would be sort of cool, if we could create a cape and socket adapter
and just plug in a bbb to the control and get it to run.
We're still in the process of figuring out the motor drivers and the
encoders. Have people done this sort of thing is a dumb idea? Is
machinekit via a BBB able to handle this type of multiplexing out of the
box or with minor modification or would this be a major modification and
a cludge not worth doing? If there is a project that's done this
already, could someone point me to a project that I could template from?
Any thoughts on this would be appreciated,
Thanks,
Tom
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