VelmaStartLWR - RCPRG-ros-pkg/velma_robot GitHub Wiki

Installation from sources

  • Download script script file (use save as)
  • Copy friComm.h to the same directory
  • open console
  • source ros setup
source /opt/ros/indigo/setup.bash
  • go to the directory where velma_setup.sh is downloaded
  • change the velma_setup.sh mode
chmod +x velma_setup.sh
  • Run the script with destination directory as an argument. [It automatically downloads and install entire workspace.]
./velma_setup.sh ~/ws_velma

Turning on the system

  • Adjust the Velma torso so that both red triangles point each other.
  • Turn on the GN4 fuse (it is in 032 fuse box at top-right corner). The lwr-controller PC starts up instantly.
  • Turn on both Kuka controllers by turning the switch from "O" to "I".
  • Find and get Emergency Stops for Kuka and the torso. Turn the Emergency Stop switches off.

On both panels:

  • Wait several minutes for "PowerOn Finished" message.
  • You can change focus between windows with images/velma_focus.png button.
  • To remove all error messages from the console, focus on the console and click "Ackn. All" button (in the bottom).
  • Rotate the key to "Automatic" position: images/velma_auto.png
  • Choose "fri_start" program and run it with Select button.
  • Turn on drive power stage with images/velma_poweron.png button (top-right). The "I" sign in the bottom of the window should change color from red to green.
  • Push and hold images/velma_continue.png button untill the robot is turns on.
  • Push and hold the same button again untill the program starts running. [All 3 icons in the bottom should be green now.]

On PC:

  • Use ssh to log in on lwr-controller:
ssh lwr-controller
  • Set up environment variables:
source ~/ws_velma/underlay/devel/setup.bash
  • Check if you are permmited to execute xenomai processes (your user have to be added to xenomai group)
  • Run launch file:
roslaunch velma_controller velma_controler.launch

  • Wait till synchronization of torso and head is completed

  • Use ssh to log in on lwr-controller in another terminal:

ssh lwr-controller
  • Set up environment variables:
source ~/ws_velma/underlay/devel/setup.bash
  • Run script:
rosrun velma_controller enable_controller.py