Control

Software components required to move Roboy 3.0 are collected in the roboy3 repository which is organized as a ROS workspace.

Prerequisites

install ROS1 melodic/noetic

Install the necessary libraries and ROS packages:

sudo apt install libeigen3-dev libxml2-dev coinor-libipopt-dev \
qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev qml-module-qtquick2 \
qml-module-qtquick-window2 qml-module-qtmultimedia qml-module-qtquick-dialogs \
qml-module-qtquick-controls qml-module-qt-labs-folderlistmodel \
qml-module-qt-labs-settings libxml++2.6-dev swig doxygen

sudo apt install ros-$ROS_DISTRO-geometry-msgs ros-$ROS_DISTRO-moveit-msgs ros-$ROS_DISTRO-actionlib-msgs ros-$ROS_DISTRO-actionlib ros-$ROS_DISTRO-tf ros-$ROS_DISTRO-tf-conversions ros-$ROS_DISTRO-cv-bridge ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-rviz ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-rqt-gui ros-$ROS_DISTRO-rqt-gui-cpp ros-$ROS_DISTRO-roslint ros-$ROS_DISTRO-rosbag ros-$ROS_DISTRO-controller-interface \
ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-controller-manager ros-$ROS_DISTRO-effort-controllers ros-$ROS_DISTRO-eigen-conversions ros-$ROS_DISTRO-pcl-ros

Roboy 3.0 software stack

Assuming, one has ROS melodic or noetic installed, run:

# get the sources
git clone https://github.com/Roboy/roboy3
export ROBOY3_WS=$PWD/roboy3
cd $ROBOY3_WS
git submodule init
git submodule update --recursive

# build idyntree
cd  $ROBOY3_WS/src/idyntree
mkdir build && cd build
cmake .. -DIDYNTREE_USES_IPOPT=ON
make -j4
sudo make install

# build qpOASES
cd $ROBOY3_WS/src/qpOASES/
mkdir build && cd build
cmake ..
sudo make -j4 install

# build cnpy
cd $ROBOY3_WS/src/ball_in_socket_estimator
git submodule init
git submodule update --recursive
cd $ROBOY3_WS/src/ball_in_socket_estimator/third_party/cnpy/
mkdir build
cd build
cmake ..
make -j4
sudo make install

# !on Jetson Nano only!
sudo ln -s /usr/include/opencv4/ /usr/include/opencv

# build catkin workspace
cd  $ROBOY3_WS
catkin_make
source devel/setup.bash

For convenience, add sourcing of the ROS workspace to ~/.bashrc, e.g.

Core modules overview

Name	Function

Name	Function
roboy_communication	all custom Roboy ROS message and service types
common_utilities	a collection of utility functions and scripts shared by various modules
robots	roboy3 models (CAD files, SDFs, URDFs, configs)
kindyn	joint control, inverse kinematics, RVIZ interface
cardsflow_rviz	RVIZ implementation
roboy_state_estimator	joint state position estimators
ball_in_socket_estimator	various methods to infer 3DOF ball-and-socket joint position