Orocos-users

[ANNOUNCE] Simulink toolbox for Orocos

Submitted by sspr on Fri, 2008-07-04 09:15.

The Flander's Mechatronics Technology Centre (http://www.fmtc.be) has
released a toolbox for creating Orocos components in Matlab/Simulink. It
lets you generate from Real-Time Workshop a ready to use component from a
Simulink model. The toolbox works for Simulink in Linux and Windows and comes
with a Windows installer and a user manual. A component generated with this
toolbox can be immediately compiled and loaded in an Orocos application,
without the need to write extra code.

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manipulator dynamics

Submitted by sachinc on Tue, 2008-07-01 18:00.

Hi,

I am a new user to KDL. We are investigating the use of KDL for a personal robotics program being developed at the company I work for. I have some specific questions about some of the features in KDL that I was hoping some of the developers could answer.

(1) Can we do manipulator dynamics in KDL? I have poked around a little in the documentation but can't seem to find examples for this.

(2) How can we contribute code back? Can we submit patches that will be integrated into the code base?

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calling methods directly

Submitted by miguel on Mon, 2008-06-30 13:54.

<html><body style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; ">Hi,<div><br></div><div>I don't know if this is a stupid question, but I can't find an answer to it.</div><div><br></div><div>When calling a component's method from another component, the component builder's manual suggests that you should do it like this:</div><div>

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array of properties in cpf file

Submitted by Tom Langeraet on Mon, 2008-06-23 13:08.

Hi,

I recently started using orocos and I have a few questions while working with properties.

Every orocos component can have its own configuration file to store properties. I only have a few simple examples of such files.

Now, I was wondering if it is possible to create more complex configuration files, to store an array of properties.
The following example should clarify the object model:

<code> 

- SensorCollection (holds an array of "Sensor" objects)
   - Sensor 0
       - propertyName
       - propertyChannel
   - Sensor 1
       - propertyName
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Does ChainIkSolverVel_pinv create only 6 joint-velocity values?

Submitted by threelight on Mon, 2008-06-23 12:09.

I'm currently working with the ChainIkSolverVel_pinv-class to calculate the inverse velocity for a robotic arm with 7 joints. After executing ChainIkSolverVel_pinv::CartToJnt I have only 6 joint velocities. The velocity of joint 7 is always 0. I've tried this for many end effector velocities and joint values (= input parameters of CartToJnt) but the value of the 7th joint stays 0.
So, I guess that CartToJnt calculate only 6 joints to avoid needless calculations of the other joints (= avoiding redundancy)?
Is that true?

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Bufferports with large buffer

Submitted by Diederik Verscheure on Mon, 2008-06-23 10:37.

Hello all,

I am using the orocos BufferPort class to do some sequential calculations for
trajectory generation.
Basically, I have three components: 

- a path generator.
- a component which does some inverse kinematics and calculates a bunch of

dynamic quantities. 

- a component which calculates a time-optimal trajectory along the path.

Each of these components uses information from the component one level up
and they pass data using bufferports. The reason for this is to allow a sort
of recursive approach is to do on-line trajectory generation with as little

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KDL jacobian patch

Submitted by snrkiwi on Mon, 2008-06-16 19:14.

Fix for copy constructor bug, and add equality operator.

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Ktaskbroser

Submitted by Leopold Palomo-... on Thu, 2008-06-12 14:58.

Hi,

in the KTaskBrowser example you put something like: 

-----------------------------------------------------------------------------

Setting up your Application
===========================

The following lines must be in your Orocos application:

  1. include <rtt/corba/ControlTaskServer.hpp>

int ORO_main(int argc, char** argv)
{ 

   RTT::Corba::ControlTaskServer::InitOrb(argc, argv);

   // ...

   RTT::Corba::ControlTaskServer( &mytask ); // export TaskContext 'mytask' to

CORBA. 

   RTT::Corba::ControlTaskServer::RunOrb(); // waits for ktaskbrower

connection

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OCL Taskmanger won't compile

Submitted by Johannes on Tue, 2008-06-10 09:30.

Hi everyone,

if i try to compile ocl 1.4.1 with BUILD_TASKBROWSER ON i get the following error: RTT,KDL and BFL are already installed and the right path is set with cmake....

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Install KDL 1.0 beta1

Submitted by Johannes on Wed, 2008-06-04 08:48.

Hi everyone,

I'm trying to install KDL 1.0 beta1 on a Ubunut 7.10 machine.

The building and the checking of RTT (1.4.1) were successful. I installed it into /opt/orocos. But if I try to build KDL ccmake give me the following output if i try to configure it: 

 Using pkgconfig

 Setting environment of PKG_CONFIG_PATH to:
 /opt/orocos/lib/pkgconfig:/opt/orocos/packages/install/lib/pkgconfig/

 -- Looking for orocos-rtt >= 1.0.0 -- not found

 CMake Error: Can't find Orocos Real-Time Toolkit

The solution is probably rather simple - but i don't see it....

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