Robot Limb not Moving

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Robot Limb not Moving

Saurabh Arora
Hi

I'm working on Ubuntu 10.04 with player v.3.1.0 to communicate with manipulator arm of Coroware Corobot CL4 using playerc++ Limbproxy. The cpp code executes but limb doesn't move. The code and configuration details follows.

The contents my configuration file are: 
# Driver for the Phidgets 8/8/8 Interface Kit
driver
(
    name "phidgetIFK"
    provides ["6665:aio:0" "6665:dio:0"]
    serial -1
    alwayson 1
    samplingrate 20
    alarmtime 21
)

#
# Driver for the CoroWare CoroBot
#
driver
(
    name "corobot"
    plugin "libcorobotdriver"
    provides ["6665:position2d:0" "6665:power:0" "6665:ir:0" "6665:limb:0" "6665:gripper:0" ]
    requires ["6665:aio:0"]
    ssc32port "/dev/ttyS1"
)

My c++ code:

#include <libplayerc++/playerc++.h>
#include <cstdlib>
#include <iostream>
#include "test.h"
#if !defined (WIN32)
  #include <unistd.h>
#endif
#include <math.h>

#include <playerconfig.h>
#if !HAVE_USLEEP
  #include <replace.h>
#endif
#define COROBOTIP "127.0.0.1"
#define COROBOTPORT 6665

PlayerCc::PlayerClient client(COROBOTIP,COROBOTPORT);
PlayerCc::LimbProxy limb(&client,0);
using namespace PlayerCc;

int main(){
  
  TEST("Limb ");
 
  // wait for P2OS to start up
  for(int i=0;i<2;i++)
    client.Read();

  for(int t = 0; t < 2; t++)
  {
    TEST1("reading data (attempt %d)", t);

    client.Read();

    PASS();

    std::cerr << limb << std::endl;
  }

  usleep(3000);
  limb.MoveHome();
  usleep(3000);
  PASS();
  return 0;
}

Execution output:
robot@robot-desktop:~/Desktop/saurabh/limb test$ ./test_limbproxy 
playerc warning   : warning : [Player v.3.1.0-svn] connected on [127.0.0.1:6665] with sock 3

Limb  ... reading data (attempt 0) ... pass
Limb offset: 0.000, 0.000, 0.000
End effector position: 0.050, 0.300, 0.000
Approach vector: 0.000, 0.000, 0.000
Orientation vector: 0.000, 0.000, 0.000
Limb is braked

reading data (attempt 1) ... pass
Limb offset: 0.000, 0.000, 0.000
End effector position: 0.050, 0.300, 0.000
Approach vector: 0.000, 0.000, 0.000
Orientation vector: 0.000, 0.000, 0.000
Limb is braked

pass

Output for configuration:
robot@robot-desktop:~/Desktop/Linux/CoroBotPlugin$ player corobot.cfgPlayer v.3.1.0-svn

* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

warning : speech (LCD) interface not created for phidgetifk driver
invoking player_driver_init()...
CoroBot driver version 2.0
  Copyright (c) 2008-2009, CoroWare Technologies, Inc
success
Done.
setting servo 4 to theta 2.063506 amount=1626
setting servo 5 to theta 1.155864 amount=1337
setting servo 6 to theta 1.570796 amount=1470
error   : Can't open video device or device does not support PTZ
create_and_bind_socket():bind() failed; socket not created.: Address already in use
error   : create_and_bind_socket() failed
error   : failed to listen on requested TCP ports
error   : alwayson unsubscription failed for device aio:0
error   : failed to stop alwayson drivers


could you please help me fix this problem? 
Thanks :)

--

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