SDK

The SDK provide a simple C++ class interface to send command to the masterboard via Ethernet or Wifi.

Prepare you interface

You first need to identify you interface name. To get a list of the interface on your computer, run ifconfig

Ethernet

A direct connection should me made between the master board and you computer. It is not possible to use the same interface for local network and master board connection.

Optional configuration:

Some packet will be sent by the OS to the master board. Their are not usefull since the master board only use raw MAC frame. To disable ARP packet run:

sudo ifconfig MY_INTERFACE -arp

where MY_INTERFACE is your lan interface name.

To disable IPV6 trafic, add this line into /etc/sysctl.conf

net.ipv6.conf.MY_INTERFACE.disable_ipv6 = 1

where MY_INTERFACE is your lan interface name.

Optional configuration (macOS):

To disable IPV6 and IPV4 you can use

networksetup -listnetworkserviceorder

to have the list of NetworkService (Hardware Port) related to the interface.

It is then possible to switch off IPV6 with:

networksetup -setv6off NetworkService

Wifi

Your interface should support monitor mode and injection since the procol used by the master board is not a standard wifi. You need to configure your interface. A script is available in the sdk folder. to use it run

sudo ./setup_wifi.sh MY_INTERFACE

where MY_INTERFACE your wlan interface name.

How to run the C++ example

main.cpp is a simple example to test the SDK, tested on ubuntu. It will execute a sinusoid trajectory on the first N_CONTROLLED_SLAVE to compile it go into the sdk folder and run:

make

a bin folder is created. to run the example run:

sudo ./bin/exec MY_INTERFACE

where MY_INTERFACE is the name of the network interface used to connect to the master board.

How to run the Python examples

• Clone the repository: git clone --recursive https://github.com/open-dynamic-robot-initiative/master-board.git

• Get into the repository: cd master-board

• Set the number of controlled drivers by opening sdk/master_board_sdk/example/example.py and tuning the N_SLAVES_CONTROLED constant: N_SLAVES_CONTROLED 4 if you are using 4 driver boards (1 per leg)

• Get in sdk/master_board_sdk/: cd sdk/master_board_sdk/

• Create a build folder: mkdir build

• Get into the folder: cd build

• Two possibilities:

  • Using ccmake .. turn on Python bindings by setting BUILD_PYTHON_INTERFACE to ON and CMAKE_BUILD_TYPE to RELEASE. Then compile and create the bindings: cmake .. then make
  • Directly use cmake -DBUILD_PYTHON_INTERFACE=ON -DCMAKE_BUILD_TYPE=RELEASE .. then make. If you want to run the scripts with Python 3 then use cmake -DBUILD_PYTHON_INTERFACE=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3) .. instead.

• Run the control script with the name of your Ethernet interface instead of name_interface (for instance enp1s0):

sudo PYTHONPATH=. python example/example.pyc -i name_interface

• Run the listener script with the name of your Ethernet interface instead of name_interface (for instance enp1s0):

sudo PYTHONPATH=. python example/listener.pyc -i name_interface

• Run the communication analyser script with the name of your Ethernet interface instead of name_interface (for instance enp1s0):

sudo PYTHONPATH=. python example/com_analyser.pyc -i name_interface

How to run an executable based on the SDK without root permissions

To run an executable named EXECUTABLE_NAME without root permissions, run :

sudo setcap cap_net_admin,cap_net_raw+ep EXECUTABLE_NAME

remember to reset the capabilities on python if you use it other you can get into trouble:

sudo setcap -r /usr/bin/python3.6

Changelog for package odri_master_board_sdk

1.0.6 (2023-11-15)

• Makes cmake-format happy !
• [CMakeList.txt] Fix CMakeLists.txt to install the header.
• Add cmake-format.
• Change name of the package to make it release in ROS-2.
• CMake: update submodule use
• CMake: bump catch2
• Partial support of the new Power-Board hardware
• Fix two bugs (FLOAT_TO_D8QN and compiling issue) + remove warnings on the core library.
• [master_board_sdk] Fix compilation error on master_board_interface.cpp l.263 Introduced by commit 782c348 it fails because %s is expecting char * and not std::string. This fails on clang.
• [master_board_sdk] Fix warnings. There are still some warnings wih Catch2 and clang. But Catch2 is a dependency and should be fixed upstream.
• [protocol] FLOAT_TO_D8QN has a wrong bracket. This commit fix this.
• [cmake] Synchronize to remove error during install process.
• Add error, thrown by sdk, for protocol version mismatch (during init)
• Add ament_cmake build_type export in package.xml and install package.xml file
• Update sdk/master_board_sdk/CMakeLists.txt
• [master_board_sdk/CMakeLists.txt] Remove useless CMAKE_PREFIX_INSTALL specification.
• [master_board_sdk/package.xml] Remove ament_cmake dependency and buildtool dependency.
• [CMakeLists.txt] Remove dependency to ament_cmake and generates files for Colcon underlays.
• [package.xml] Add dependence to ament_cmake if ROS-2 is detected.
• [CMakeLists.txt] Uses ROS-2 if the environment is compatible.
• [package.xml] Add ament_cmake export for colcon support.
• [cmake] Add install procedure for file package.xml
• Adding ROS-2 rolling CI to the repository and some changes to have it working.
• [sdk/master_board_sdk/tests/test_protocol.cpp] Commented the test on NaN which is failing.
• [sdk/master_board_sdk/package.xml] Fix package dependency. Update version to 3. Add dependencies to libboost-python. Add git for dependencies.
• [cmake/sdk_master_board/CMakeLists.txt] Improve CMakeLists.txt.
• [cmake/master_board_sdk/CMakeLists.txt] Removing components
• [cmake] Change again python detection place.
• [cmake] Change place for python detection
• [sdk/master_board_sdk/CMakeLists.txt] Update Find Python detection. Update message when detection is failing.
• [Cmake] remove python components.
• [master_board_sdk/CMakeLists.txt] Provides better Python detection
• [cmake] Synchronize
• [package.xml] XML version 1.0
• [package.xml] Remove Boost depend.
• Cmake
• pre-commit run -a
• sync submodule
• (Small) Fix for sdk examples with python >=3.8
• Apple support for wired connection.
• [Link_manager] Fix message when the priority is not set correctly and fails using assert.
• [cmake] Switch back the default to ON if this is not an APPLE platform
• Add Python bindings for SetKp/Kd/SaturationCurrent and fix example.py
• Zero-initialise all members of Motor
• Change macro name for platform from UNIX to linux. Include net/if_arp.h only for APPLE.
• Fix missing header.
• Fix wrong elif condition and missing brackets.
• Apple support for wired connection.
• example.py: Initialise all reference values and gains to zero This should not really be needed anymore since values are already zero-initialised in [Motor]{.title-ref} but better be safe than sorry.
• fix example.py: time.clock() has been removed [time.clock()]{.title-ref} has been deprecated in Python 3.3 and does not exist anymore in newer versions. Use [perf_counter]{.title-ref} instead.
• Add Python bindings for Motor::SetKp/Kd/SaturationCurrent At least by now they are implemented in motor.cpp, so there\'s no reason to not add bindings for them.
• Zero-initialise all members of Motor This should fix an issue that was likely caused by [kp]{.title-ref} being set to some random non-zero value, resulting in the motor unintentionally being held at some position.
• Missing include
• plateform and distro modules optionnal for sdk example com_analyser.py
• Swap process_time and clock for better intelligibility
• Protocol version added in init_ack packet & version mismatch throw runtime error in sdk
• Fix sdk examples for python version >=3.8
• CMake: add unit tests
• Fix minor build error and update cmake submodule
• CMake: add unit tests
• Handle out-of-range motor params without wraparound (#117) Avoid fixed-point overflow
• Minor CMakelist change and cmake update
• SDK: fix a few warnings
• [CMake] set RPATH for executables
• SDK: fix warnings
• Add Python bindings for powerboard data
• add pyton bindings for power baord
• [SDK][Firmware] Add partial support for power-board, Update protocol version and sdk accordingly
• Contributors: EtienneAr, Felix Kloss, Guilhem Saurel, Naveau, Olivier Stasse, Thomas Flayols, Trevor Blackwell, odri, thomasfla

1.0.5 (2022-06-30)

• Merge pull request #110 from open-dynamic-robot-initiative/fwidmaier/version Bump version to 1.0.5 and add changelog
• Bump version to 1.0.5 and add changelog
• fix package.xml for catkin build compatibility
• Merge pull request #109 from open-dynamic-robot-initiative/jviereck/mailbox_only Use mailbox for SPI communication
• fix example_imu_data_collection
• Add MasterBoardInterface::get_imu_data() Add method to easily get the full IMU data.
• Adding CMakeList entry for new example
• Adding example for collecting and plotting IMU data for 10 seconds
• SDK: cherry-pick fixes, fix #106 initial commit: 32b0252c64a064c55e8cd07115a003b15c0d0a86
• Contributors: Felix Widmaier, Guilhem Saurel, Julian Viereck, Maximilien Naveau

1.0.4 (2021-07-21)

• Merge pull request #99 from paLeziart/add-parse-sensor-data Add parse sensor data
• Add comment to explain the call to ParseSensorData
• Add a ParseSensorData in MasterBoardInterface Init function
• Merge pull request #97 from open-dynamic-robot-initiative/jviereck/fix_regression Fix problem with reference to packed fields in MasterBoardInterface ParseSensorData
• Fix problem with reference to packed fields in MasterBoardInterface::ParseSensorData
• Merge pull request #94 from open-dynamic-robot-initiative/jviereck/fix92 Set close to zero velocity to zero. Fixes #92
• Address review comments
• Set close to zero velocity to zero. Fixes #92
• Contributors: Julian Viereck, odri, paLeziart

1.0.3 (2021-06-09)

• Merge pull request #90 from open-dynamic-robot-initiative/mnaveau/python_bindings_by_default Update CMakeLists.txt
• Update CMakeLists.txt
• Contributors: Naveau

1.0.2 (2021-05-11)

1.0.1 (2021-04-16)

• Merge pull request #82 from open-dynamic-robot-initiative/jviereck/attempt_three Make communication more robust
• Increase the CONFIG_SPI_N_ATTEMPT from 2 to 3. Add a counter in the example to see number of times an error was reported
• Merge pull request #78 from open-dynamic-robot-initiative/mnaveau/missing_definition [sdk] fix missing definition from the Motor class
• Merge pull request #77 from open-dynamic-robot-initiative/jviereck/error_encoder_2 SDK: Adding error code for encoder2 error
• Merge pull request #75 from open-dynamic-robot-initiative/mbogdanovic/fix_stat_overflow SDK: Fix bug/crash with overflow in statistic computation
• [sdk] fix missing definition from the Motor class
• SDK: Adding error code for encoder2 error
• Update README.md
• Update README.md
• SDK: Fix bug/crash with overflow in statistic computation
• Merge pull request #72 from open-dynamic-robot-initiative/mnaveau/export_library Warning Hunt and CMake export.
• update target names
• update the interface to double values
• remove warning in the example_pd
• fix a couple of warnings
• Synchronize.
• export the includes and install them
• fix project name
• add Boost to the package.xml
• add the license and package.xml
• export the cmake library
• Merge pull request #74 from open-dynamic-robot-initiative/jviereck/current_sat [SDK] Add support for current saturation
• [SDK] Add support for current saturation
• Merge pull request #71 from thomasfla/master Add local joint impedance control interface + improve python binding packaging
• Merge pull request #1 from nim65s/master Update CMake
• CMake: ensure python lib always find c++ lib
• CMake: fix sdk installation path, fix #45
• CMake: update submodule and its use
• Tune data representation in the protocol for usefull gains levels, Fix conevrsion of Kp Kd
• Add IQ scalling for Kp and Kd values
• Merge pull request #66 from maximekli/internship-major-refactor [Firmware][SDK][Doc] Major refactor and protocol update;
• Merge pull request #19 from AlexisPotier/communication Fixed overflow issue in com analyser script
• Fixed overflow issue on com_analyser
• Plot graphs even if the script is stopped by a master board timeout
• Merge pull request #17 from AlexisPotier/communication Better way to get wifi channel
• Better way to get wifi channel
• Removed listener mode special case because mb does not send packets in waiting for init anymore
• Merge pull request #3 from maximekli/master Update fork
• Merge pull request #15 from AlexisPotier/communication Added communication analyser script to test the network link between PC and MB + channel 14 support
• Small refactor
• Replaced latency script by communication analyser script
• Added getters for wifi channel and protocol version
• Enable channel 14 for wifi communication
• Merge pull request #2 from maximekli/master Update fork
• Merge branch \'AlexisPotier-print\'
• Merge branch \'print\' of https://github.com/AlexisPotier/master-board into AlexisPotier-print + some formatting
• Avoid displaying headers when there is no spi connected
• Merged PrintCmdStats and PrintSensorStats, improved the display of wifi/eth stats
• Improved the display of IMU, ADC and motors data
• Revert \"Changing scheduler param to realtime in examples\" This reverts commit beead35848bc759a2ef147b0a68dc79b47e57f74.
• Improving display of latency test result
• Changed protocol version from 2 to 3
• Merge pull request #13 from AlexisPotier/latency Latency script for network link into master branch
• Changing scheduler param to realtime in examples
• Documentation update : added informations about the latency calculator script
• Creation of a python script to compute the latency of the wifi/ethernet communication
• Changed the protocol to be able to compute the latency for ethernet/wifi communication
• Initialization of pointer + extra safety when stopping the interface
• Added member function to check if driver is enabled
• Fix division by zero
• git push origin masterMerge branch \'AlexisPotier-master\'
• Merge branch \'master\' of https://github.com/AlexisPotier/master-board into AlexisPotier-master
• Fix for command loss feedback reset and overflow
• Get first packet loss to avoid jump in value
• Proper getter and setters for a few driver properties
• git push origin masterMerge branch \'maximekli-master\'
• Merge branch \'master\' of https://github.com/maximekli/master-board into maximekli-master
• Merge branch \'memory_leaks\'
• Merge branch \'signal_handler\'
• Small fixes after merge
• git push origin masterMerge branch \'AlexisPotier-signal_handler\'
• Merge branch \'signal_handler\' of https://github.com/AlexisPotier/master-board into AlexisPotier-signal_handler
• git push origin masterMerge branch \'AlexisPotier-memory_leaks\'
• Merge branch \'memory_leaks\' of https://github.com/AlexisPotier/master-board into AlexisPotier-memory_leaks
• Small refactor when checking drivers
• Free link_handler when the program is stopped by SIGINT signal
• Removed \"virtual\" keyword for stop function in ESPNOW_manager
• Close correctly the pthread to avoid memory leaks
• Added destructors in the interface to close correctly link_handler_ and avoid memory leaks
• Small refactor
• Added extra safety when closing interface
• Merge pull request #5 from AlexisPotier/master Fix seg fault on stopping the interface
• Added default argument for listener mode in interface constructor
• Handling Keyboard Interrupt signal to close threads correctly when the script is interrupted by the user
• Update doc with listener example
• Updated outdated doc
• Added connected status as an attribute in motor_driver class and adapting interface and example with it
• Small refactor
• Rework for listener to work in more cases Added getters for session id and reset packet loss stats method
• Override stop method to stop differently wifi and ethernet connexions
• Initialization of bpf in ESPNOW_manager
• Small refactor on shutting down the interface
• Little fix
• Merge branch \'feedback_on_packet_loss\'
• Merge branch \'AlexisPotier-feedback_on_packet_loss\'
• Merge branch \'feedback_on_packet_loss\' of https://github.com/AlexisPotier/master-board into AlexisPotier-feedback_on_packet_loss
• Added getters for feedback and changed stats print functions
• Created listener script that gathers sensor data from any connected mb
• Adapted both examples for the new listener mode
• Added listener mode to the interface that allows to get sensor data from any running mb (no session id checking)
• Updated python example with failed spi transactions support
• Added failed spi transactions support to example
• Added protocol version to init msgs in interface
• Updating interface and examples with the connected spi slaves feedback
• Removed state machine test example
• Fixed the error (invalid pointer) occurring at the end of the example
• Fixed the segmentation fault occurring at the end of the example
• Merge branch \'AlexisPotier-new_branch\'
• Merge branch \'new_branch\' of https://github.com/AlexisPotier/master-board into AlexisPotier-new_branch
• Giving feedback on packet loss
• update files to merge
• update feedback packet loss using latest version
• Merge branch \'master\' of https://github.com/open-dynamic-robot-initiative/master-board
• Merge pull request #62 from open-dynamic-robot-initiative/fwidmaier/fix-clang-error Using constant value for array length
• Using constant value for array length Using the value from [this->bpf.len]{.title-ref} for defining the array length seems to be accepted by GCC but resulted in an error with clang. Therefore store the value to a constexpr and use that instead.
• Merge branch \'master\' of https://github.com/AlexisPotier/master-board
• add feedback on packet loss
• Merge pull request #59 from AlexisPotier/master Added setcap solution in the SDK documentation and fixed a problem with the images in the SPI documentation
• Update README.md
• Adapting the examples for the new interface timeout (while waiting for acknowledgment)
• Adding a new timeout to the interface in order to shut it down if we wait for an acknowledgment msg for too long
• Added session id handling in sdk interface
• Moving the master board state machine test program to its own folder and editing the CMakeLists and README files to run it
• New python test file in the sdk to demonstrate every state of the master board state machine
• Adapting python example for use with new master board state machine. Runs ok but seg fault in the end while stoping interface.
• Adapting python master board sdk for use with new state machine
• Small change to match previous commit
• Small method name change to be more consistent with previous code
• Adapting the example for use with the new master board firmware that uses init messages
• Adapting master board interface for the new masterboard firmware that uses init messages. Not adapted for use with python.
• Merge pull request #55 from open-dynamic-robot-initiative/jviereck/link_manager_destruct LinkManager: Close connection on destruction
• LinkManager: Close connection on destruction
• Merge pull request #52 from thomasfla/fix_linacc [sdk] rescale linear acceleration to SI, fix typo in python bindings
• [sdk] rescale linear acceleration to SI, fix typo in python bindings
• Merge pull request #35 from paLeziart/guide_python_script [SDK] Small guide on how to compile and launch the Python example
• Merge pull request #50 from thomasfla/encoders_offset [SDK] Add a settable offset on position reading and reference positio...
• Merge pull request #49 from open-dynamic-robot-initiative/mnaveau/timeout_send_command Timeout of the SendCommand only after the first command
• Update the timeout of the SendCommand only after the first command as been set.
• [SDK] Small guide on how to compile and launch the Python example
• [SDK] Add a settable offset on position reading and reference position. Usefull for encoder offset calibration routines
• Merge pull request #46 from thomasfla/tflayols_devel [SDK] [Firmware] Expose estimated linear acceleration from IMU
• [SDK] expose accelerations in m/s^2 instead of g
• [Firmware][SDK] Configure IMU to send linear acceleration estimate, adapt protocol and sdk to read it. Warning! Protocol has changed, the Master board needs to be flashed
• [SDK] Remove N_SLAVE_CONTROLED from the library, use it only in the example; Set default value to 1
• Merge pull request #34 from nim65s/master [Python] replace getopt by argparse
• Merge pull request #40 from nim65s/cmake [CMake] PKG_CONFIG_APPEND_BOOST_LIBS has been fixed
• Merge pull request #42 from open-dynamic-robot-initiative/jviereck/si_velocity_example_py_followup Update example.py as for d gain si unites
• Update example.py as followup to #39.
• Merge pull request #39 from open-dynamic-robot-initiative/jviereck/fix38_si_velocity [sdk] Fix velocity si unit conversion. Fixes #38
• [CMake] PKG_CONFIG_APPEND_BOOST_LIBS has been fixed
• [Python] replace getopt by argparse Which is cleaner, and comes with more functionnalities
• [Python] avoid lines > 120 chars
• [sdk] Fix velocity si unit conversion. Fixes #38
• Merge pull request #36 from paLeziart/fix_typos_connection [SDK] Fix typos: connection instead of connexion
• [SDK] Fix typos: connection instead of connexion
• Merge pull request #33 from nim65s/master [CMake] clean master_board_sdk
• [CMake] PKG_CONFIG_APPEND_BOOST_LIBS doesn\'t work with boost python for now
• [CMake] typo
• [CMake] build python example
• [CMake] sync submodule
• remove symlinks build directory could be anywhere
• [CMake] python .pc is configured in scrcpy/
• [CMake] build python .so in standard place
• [CMake] install python .so in PYTHON_SITELIB
  • CMAKE_INSTALL_PREFIX is implied
  • PROJECT_NAME has dashes, so this can\'t work with python import system
• [CMake] boost python is required for python
• [CMake] update project definition
• [CMake] remove end-of-line spaces
• Merge pull request #29 from paLeziart/IMU_bindings [SDK] Python bindings for IMU data (accelerometer, gyroscope, attitude)
• Merge pull request #30 from paLeziart/shutdown-timeout [SDK] Timeout of MasterBoardInterface if the master board is not resp...
• [SDK] Timeout of MasterBoardInterface if the master board is not responding
• [SDK] Python bindings for IMU data (accelerometer, gyroscope, attitude)
• Merge pull request #26 from open-dynamic-robot-initiative/tflayols_devel [Firmware] Fix the IMU driver to deal with combined messages from IMU ...
• [sdk] fix makefile
• Merge pull request #25 from paLeziart/bindings_adc_and_gains [SDK] Adapting gains for SI units + Python bindings for adc property ...
• [SDK] Adapting gains for SI units + Python bindings for adc property and printADC function
• Merge pull request #20 from paLeziart/noprintf [SDK] Option to have no printf when running on realtime loop
• [SDK] Option to have no printf when running on realtime loop
• Merge pull request #9 from open-dynamic-robot-initiative/jviereck_adc Add support for reading and printing ADC values from the cards
• Set SP_QN_ADC and UD_QN_ADC from 14 back to 16
• Merge branch \'master\' into jviereck_adc
• Merge pull request #14 from open-dynamic-robot-initiative/jviereck_motor_si_units Changes motor position, velocities, kp and kd to SI units
• Merge pull request #17 from paLeziart/master [SDK] Python bindings of MasterBoardInterface, MotorDriver and Motor ...
• [SDK] Python bindings of MasterBoardInterface, MotorDriver and Motor classes with Boost + example.py script
• Changes motor position, velocities, kp and kd to SI units
• Add support for reading and printing ADC values from the cards
• Merge pull request #7 from open-dynamic-robot-initiative/mnaveau/catkin_compatiblity catkin compatiblity
• fix the move of the sdk include to a sub-folder
• move the include in a subfolder call master_board_sdk for general packaging consistency
• moved all the files to clean the sdk folder
• Contributors: AlexisPotier, Felix Widmaier, Guilhem Saurel, Julian Viereck, Maxime K, Maximilien Naveau, MaximilienNaveau, Miroslav Bogdanovic, Naveau, Pierre-Alexandre Leziart, Thomas Flayols, jviereck@tuebingen.mpg.de, maximekli, paLeziart, thomasfla