Continous integration

Links

• Sonarqube : https://sonarqube.inria.fr/sonarqube/dashboard?id=auctus%3Apanda%3Apanda_mover
• Documentation : https://auctus.gitlabpages.inria.fr/panda/panda_mover/index.html

Installation

1. sudo apt install python-wstool ros-melodic-vrpn-client-ros
2. Follow the installation instruction of the fraka ros package : https://frankaemika.github.io/docs/installation_linux.html#installing-from-the-ros-repositories
3. Install the qpOASES ros package in the same catkin workspace: https://github.com/kuka-isir/qpOASES.git
4. Configure a new catkin workspace that extends the previous workspace and sets libfranka path catkin config --extend ~/catkin_ws/devel/ --cmake-args -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=/opt/frankaemika/libfranka/build
5. cd catkin_ws_mover/src
6. git clone git@gitlab.inria.fr:auctus/panda/panda_mover.git
7. wstool init
8. wstool merge panda_mover/rosdep.rosinstall
9. wstool update
10. catkin build panda_mover panda_mover_gui

Run simulation

roslaunch panda_mover run.launch sim:=true

Calibrate robot and optitrack

Make sure the rigid body markerset is installed on the robot end-effector.

On Narrosse run: roslaunch panda_mover run.launch

To get the differene between the optitrack and robot frames run: rosrun panda_mover robotbody_diff

For manual calibration, adjust the optitrack reference frame to minimize frame differences.

Experiment procedure

On Narrosse run: roslaunch panda_mover run.launch

On local PC run: rosrun panda_mover_gui panda_mover_gui

1. Comm tab -> Connect.
2. Main tab -> Play trajectory. Allow robot to move to the start of the wireloop.
3. Main tab -> Cancel positioning task.
4. Attach handle to end-effector.
5. Start save data (see below).
6. Human subject performs wireloop task.
7. Stop save data (CTRL-C).

To save data: rosbag record /panda_mover/panda_rundata /contact /joint_states /panda_mover/Polyline_pose_array /panda_mover/Pose_array /panda_mover/panda_pose /panda_mover/panda_rundata /panda_mover/trajectory_pose /panda_mover/wireloop_pose /qp_state /tf

To calibrate the robot and optitrack