So yesterday I wanted to post my notes from around October on how to install ROS Melodic on a Slackware 64bit system – yes, I’m boring, but honestly I like compiling ROS. It’s like an unhealthy, nerve-wrecking, time-consuming addiction that makes you smile in the end just for this one minute and it’s all worth it. Kinda like golf.
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During my recent works with SEA (Series Elastic Actuators) I was using motors with gearboxes and was happy – as happy as a researcher can be in that scenario. So not very much.
All my gearboxes are scrapped from different servos, be it small 9g 1$ blue servo (SG-90) or a “slightly” more expensive Dynamixel MX-64. But what if… I design my own?
This is one of the older things I did, but did not have enough time to make it into a post. So: the aim is to get a working stream of data from OptiTrack system into ROS Kinetic. A small catch: get individual points as well as rigid bodies.
A bit of honesty – I made this project by accident. True story.
Just notes on installing jekyll, because I keep forgetting how.
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assume that 192.168.0.100 is the server and 192.168.0.153 is the client with Matlab
console on the server:
export ROS_IP=192.168.0.100
export ROS_MASTER_URI=http://192.168.0.100:11311
roscore
(and same with rosrun turtlesim turtlesim_node on another console)
matlab:
setenv(‘ROS_MASTER_URI’,’http://192.168.0.100:11311′)
setenv(‘ROS_IP’,’192.168.0.153′)
rosinit
robotctrl = rospublisher( ‘/turtle1/cmd_vel’ )
robotpose = rossubscriber( ‘/turtle1/pose’ )
twist = rosmessage(robotctrl.MessageType)
twist.Linear.X = 1
send(robotctrl,twist)
pause(0.1)
state = receive( robotpose, 1 )
(RAW, unedited dump of my notes that ends in a glorious failure) Goals for today:
I almost forgot, while discussing libpam last time, that the top reason for Matlab R2017b crashing in flames and destruction on Slackware 14.2 is actually MATLABWindow (and the Chromium underneath) that are causing problems. Solution? As always, cheat with libraries.
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Installing newer versions of Matlab on not-PAM-ified linux requires supplying libpam.so.0 somewhere.
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So, lately during the summer I wanted to have some new robots for the students to work on. You know, some motors, couple of sensors, built-in Arduino-like electronics, that kinda stuff. And after about a week of searching I found a perfect robot … a 3D printer.