https://github.com/woolfrey/testing_robot_library
Executables for numerical testing of RobotLibrary.
https://github.com/woolfrey/testing_robot_library
Last synced: 2 months ago
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Executables for numerical testing of RobotLibrary.
- Host: GitHub
- URL: https://github.com/woolfrey/testing_robot_library
- Owner: Woolfrey
- License: gpl-3.0
- Created: 2024-07-09T13:21:12.000Z (almost 2 years ago)
- Default Branch: master
- Last Pushed: 2025-02-21T14:08:43.000Z (over 1 year ago)
- Last Synced: 2025-02-21T15:23:13.122Z (over 1 year ago)
- Language: C++
- Size: 57.6 KB
- Stars: 0
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# :alembic: Test Code for RobotLibrary
This repository contains executables to numerically validate the algorithms in [Robot Library](https://github.com/Woolfrey/software_robot_library).
#### :compass: Navigation
- [Requirements](#clipboard-requirements)
- [Installation](#floppy_disk-installation)
- [Usage](#wrench-usage)
- [Contributing](#handshake-contributing)
- [License](#scroll-license)
## :clipboard: Requirements
- [Eigen 3.4](https://eigen.tuxfamily.org/index.php?title=Main_Page), and
- [Robot Library](https://github.com/Woolfrey/software_robot_library) (obviously!)
> [!NOTE]
> This repository was built & tested in Ubuntu 22.04. If you're using Ubuntu 20.04 (or earlier?), you will need to manually install Eigen 3.4, instead of through the command line.
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## :floppy_disk: Installation
The directory structure should look something like this:
```
workspace/
├── software_robot_library/
└── testing_robot_library/
├── python/
├── src/
├── urdf/
├── CMakeLists.txt
├── LICENSE
└── package.xml
```
1. In your `workspace` directory, clone the repository:
`git clone https://github.com/Woolfrey/testing_robot_library.git`
2. Navigate in to the directory and create the build folder:
`cd testing_robot_library`
`mkdir build && cd build`
3. Now make it:
`cmake ../`
`make`
If you now type `ls` in to the terminal you should see multiple executables:
- cartesian_velocity_control
- joint_velocity_control
- load_model
- singularity_start
- spline
- trapezoidal_velocity
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## :wrench: Usage
You can run the executables from the `build/` folder using `./ ... etc.`
They each output a `.csv` file of data (trajectory tracking error, joint positions, joint velocities, etc.) that you can use to plot the data.
Inside the `python/` folder are several Python scripts for visualising the data.
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## :handshake: Contributing
Contributions to this repositore are welcome! Feel free to:
1. Fork the repository,
2. Implement your changes / improvements, then
3. Issue a pull request.
You can also raise an issue to ask for new features.
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## :scroll: License
This software package is licensed under the [GNU General Public License v3.0 (GPL-3.0)](https://choosealicense.com/licenses/gpl-3.0/). You are free to use, modify, and distribute this package, provided that any modified versions also comply with the GPL-3.0 license. All modified versions must make the source code available and be licensed under GPL-3.0. The license also ensures that the software remains free and prohibits the use of proprietary restrictions such as Digital Rights Management (DRM) and patent claims. For more details, please refer to the [full license text](LICENSE).
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