Rokubi mini 2.0 - Force-Torque Sensor - README

Overview

This software package will provide a driver and a ROS interface for the ethercat and serial version of the rokubi mini force-torque sensor. This is at the moment just a skeleton to connect to rokubi mini devices and support the driver development of its firmware.

Authors(s): Ilias Patsiaouras, Mike Karamousadakis

Building

Installation

Building from Source

In order to use the bota_driver package, you need to download first the following dependencies:

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• soem
• ethercat_grant

Before building, you need to clone the repository and make sure that all the binary dependencies are installed. To do so, run in a terminal:

cd catkin_workspace/src
git clone https://gitlab.com/botasys/bota_driver.git
cd ../
rosdep update && rosdep install --from-path src --ignore-src -y -r
sudo apt install libxmlrpcpp-dev librosconsole-dev

Building

To build the bota_driver from source, clone the latest version from this repository into your catkin workspace and compile the package using:

1. The catkin_tools package:

	cd catkin_workspace
	catkin build bota_driver
	

1. If you don’t have the catkin_tools package, you can still build from source with catkin_make:

	cd catkin_workspace
	catkin_make --only-pkg-with-deps bota_driver
	# Don't forget to switch back to building all packages when you are done:
	# catkin_make -DCATKIN_WHITELIST_PACKAGES=""
	

1. Finally, you can build from source with catkin_make_isolated. The only difference is that each package will be processed sequentially:

	cd catkin_workspace
	catkin_make_isolated --pkg bota_driver
	

Unit Tests

No unit tests so far.

Packages

rokubimini

The core C++ library to interface one or multiple rokubimini devices. Contains abstract interfaces to start the communication.

rokubimini_ethercat

The ethercat implementation of rokubimini.

rokubimini_serial

The serial implementation of rokubimini.

rokubimini_bus_manager

An abstract class for managing a bus.

bota_node

ROS node wrapper with some convenience functions using bota_worker.

bota_worker

High resolution and threaded version of the ROS rate class.

bota_signal_handler

Contains a static signal handling helper class.

rokubimini_msgs

Contains the definitions of the ROS messages and services used for communication over ROS.

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