CTR robot control

Introduction

Building Requirements

ensure that you have the following libraries installed in your system:

• Boost
• Blaze Library
• LAPACK
• OpenIGTLink

Build Packages Instruction

To build the nodes, follow these instructions:

1. Build the packages:

   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-select interfaces emtracker robot controller manager

Setup CANopen Connection to the Robot

To set up the CANopen connection, follow these steps:

1. Load the CANopen driver:

   modprobe ix_usb_can

   If you encounter an error, the IXXAT socket CAN driver is not installed. Install the compatible version with your Linux kernel (IXXAT_SocketCAN_2_0_378_Modified_2023-03-15).

2. Configure CAN interface:

   sudo ip link set can0 up type can bitrate 1000000
   sudo ip link set can0 txqueuelen 1000
   sudo ip link set can0 down
   sudo ip link set can0 type can loopback on
   sudo ip link set can0 up

3. Monitor CAN connection: Open a terminal and run:

   candump can0

4. Send reset command to check all nodes: Open a separate terminal and run:

   cansend can0 000#8200

   Among the return packets if you see a line similar to the one below, which is the echo of the reset command, you are good to go. Otherwise, the "loopback" setting might not be on. Sometimes, you need to replug the USB port to fix it.

   can0  000   [2]  82 00
   

Setup EMtracker USB Connection

1. Identify connected USB ports:

   ls /dev/tty*

2. Grant access permission to the port:

   sudo chmod a+rw /dev/ttyUSB*

   Replace * with the number of the connected USB port, usually 0.

ros2 run tf2_tools view_frames