YouBot Example

Set up V-REP

1. Download and extract v-rep, e.g. into /opt/v-rep from www.v-rep.eu

2. In the v-rep directory (/opt/v-rep) check the following lines in the file remoteApiConnections.txt

portIndex1_port = 19997

portIndex1_debug = true

portIndex1_syncSimTrigger = false

Run the simulation

1. Start v-rep by ./v-rep.sh

2. Load /scene/youbot_arm

3. Start the simulation

4. Run your code (see next section)

Running your code using the remote API

C++

First compile your code:

$cmake /path_to_CMakeLists.txt/ -DVREP_DIR:PATH=/path_to_v-rep/

In our case, for example:

$ cd vrep_youbot_example
$ mkdir build
$ cmake .. -DVREP_DIR:PATH=/opt/v-rep
$ make

To run the example use $ ./example

Python

1. You should make sure the remote API libraries are compiled. Check this. You will have to run something along the lines of:

$ cd /opt/v-rep/programming/remoteApiBindings/lib
$ make
$ sudo cp /opt/v-rep/programming/remoteApiBindings/lib/lib/64Bit/remoteApi.so /opt/v-rep/programming/remoteApiBindings/python/python

2. You need to add the python modules to you python path, e.g.

$ export PYTHONPATH=$PYTHONPATH:/opt/v-rep/programming/remoteApiBindings/python/python

and the shared object library to you LD_LIBRARY_PATH, e.g.

$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/v-rep/programming/remoteApiBindings/lib/lib/64Bit

Note: if python does not find the module or the library, you can simply copy the files into your working directory.

To run your code simply use python youbot_example.py

KDL chain

Example code for creating the proper KDL chain

KDL::Chain chain;
double offset[5] = {d2r(-169),d2r(-65),d2r(147),d2r(-102.5),d2r(-167.5)};
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::None), KDL::Frame::DH(0.0, M_PI, 0.147, 0)));

chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ), KDL::Frame::DH(0.033,  + M_PI_2,  0.0, offset[0] + M_PI       )));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ), KDL::Frame::DH(0.155,  0,    0.000,  offset[1] - M_PI_2)));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ), KDL::Frame::DH(0.135,  0,    0.000,  offset[2]    )));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ), KDL::Frame::DH(0.0,  M_PI_2,       0.0,  offset[3] - M_PI_2   )));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ), KDL::Frame::DH(0.0, 0,  0.0,  offset[4])));

chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::None), KDL::Frame::DH(0.00, 0, -0.208, 0)));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::None), KDL::Frame::DH(0.00, M_PI, 0, 0)));