https://github.com/advrhumanoids/xbot2_examples
Examples and tutorials on the new XBot2 framework -- WIP
https://github.com/advrhumanoids/xbot2_examples
Last synced: 10 months ago
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Examples and tutorials on the new XBot2 framework -- WIP
- Host: GitHub
- URL: https://github.com/advrhumanoids/xbot2_examples
- Owner: ADVRHumanoids
- Created: 2020-06-11T15:04:26.000Z (about 6 years ago)
- Default Branch: master
- Last Pushed: 2025-03-10T09:50:40.000Z (over 1 year ago)
- Last Synced: 2025-05-03T22:35:50.543Z (about 1 year ago)
- Language: C++
- Size: 1.42 MB
- Stars: 9
- Watchers: 9
- Forks: 4
- Open Issues: 9
-
Metadata Files:
- Readme: README.md
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README
# xbot2_examples
### Examples for the XBot2.0 middleware
This repository containes commented examples of use for the [**XBot2.0**](https://advrhumanoids.github.io/xbot2/) real-time middleware for robotics. The IIT-Teleop robot, a 5-dof robotic arm, is provided as testing platform.
Follow the link and install the framework before you go ahead!
## Contents
- [Simulating a robotic system with Gazebo](docs/gazebo-sim.md)
- [Writing a simple control module as an *XBot2 Plugin*](src/homing_example/README.md)
- [Configuring the middleware](config/README.md)
- Inter-plugin communication ([data streaming](src/talker_listener/README.md), [rpc-like](src/client_server/README.md))
- [Using ROS from a real-time plugin](src/ros_from_rt/README.md)
- [Adding a custom device](src/device/README.md)
- [Controlling the robot from ROS](src/ros_api/README.md)
## How to build
Standard CMake workflow
- `mkdir build && cd build`
- `ccmake `
- select a build type and an install folder (must be visible to the dynamic linker), type `c` and then `g`
- `make -j install`
- `sudo ldconfig` might be required if installing to `/usr/local`
## How to setup
- make sure that the robot sdf and meshes are visible to Gazebo; for instance, you can add the following line to your `.bashrc`
```
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/models/database
```
- set the XBot2 configuration file to the provided example with `set_xbot2_config /config/teleop_simple_example.yaml` *(note: this is optional as this information can be provided later as a command line argument)*
Note: a more complete `teleop_complete_example.yaml` is available, too; it requires to enable the `XBOT2_EXAMPLES_WITH_GZ` flag during compilation.
## How to run
- load the provided `.world` file to Gazebo with the following command:
```
gazebo /world/teleop_xbot2.world
```
you should now see the robot inside Gazebo; a simple bash script `/run_simulation.bash` provides a shorthand for this command.
- run XBot2 with `xbot2-core` or `xbot2-core --verbose` *(note: add `--config /config/teleop_simple_example.yaml` if you did not use the `set_xbot2_config` command during the setup phase)*
You should now be able to (for instance)
- get the list of loaded plugins -> `rosservice call /xbotcore/get_plugin_list`
- monitor execution time -> `rostopic echo /xbotcore/statistics`
- monitor joint state -> `rostopic echo /xbotcore/joint_states`
Running inside Docker container 
- [install docker](https://docs.docker.com/engine/install/ubuntu/#install-using-the-repository)
and set it up so that it [does not require sudo permissions](https://docs.docker.com/engine/install/linux-postinstall/)
- [install nvidia container toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker) if you have an nvidia card
- `./docker/run.sh` runs the container (the first time it will also download a crazy amount of data!)
- to spawn more `bash` sessions inside the same container instance, do `./docker/attach.sh`
- open three `bash` sessions
- terminal #1: `./start.sh` (starts `roscore` and `gazebo`)
- terminal #2: `xbot2-core` (XBot2 executable)
- terminal #3: `xbot2-gui` (GUI should appear)