Control_Torque_iiwa_Matlab

Descripción

Controlar el iiwa simulado en gazebo mediante ros y Matlab

Topics modificados con respecto al código de Matlab original link

• /iiwa_gazebo_plugin/joint_state : Se recibe en él:

            -Position : posición articular (radianes)
                                                
            -Velocity: velocidad articular (radianes/s)
            
            -Effort : torque de cada articulación
            
            -Header.Stamp.seconds: tiempo en segundos
  

• /iiwa_gazebo_plugin/joint_command : Envia los torque que se quieren ejecutar en cada articulación

Configuración

Download the whole repo wherever you want to have your workspace, for example, in the /home/user/catkin_ws folder

1. CHANGE user BY your user name.
2. CHANGE catkin_ws BY your workspace name.

cd catkin_ws/
git clone https://github.com/NachoAP-UC3M/Control_Torque_iiwa_Matlab

• Modify .bashrc file to use this workspace and set the ROS_IP and ROS_WORKSPACE enviroment variables. Change the IP for your IP. Open a terminal and write:

cd 
sudo gedit .bashrc

In the last line to the file copy BUT WITH YOUR DATA. if not it doesn't work.

export ROS_WORKSPACE=/home/nacho/catkin_ws
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ROS_WORKSPACE
export ROSCONSOLE_FORMAT='[${severity}] [${time}]: ${message}'
export PYTHONPATH=/opt/ros/kinetic/lib/python2.7/dist-packages

source /opt/ros/kinetic/setup.bash
source /home/nacho/catkin_ws/devel/setup.bash

#Enlace para obtener dirección IP en una variable de entorno:
#https://www.mundotelematico.com/linux-variable-de-entorno-con-direccion-ip-del-equipo/

IP="$(ifconfig |grep -A 1 "wlp2s0" |tail -1 |cut -d ":" -f 2| cut -d " " -f 1)"

export ROS_IP=$IP
export ROS_MASTER_URI=http://$ROS_IP:11311
export GAZEBO_PLUGIN_PATH=$HOME/gazebo_plugin_tutorial/build:$GAZEBO_PLUGIN_PATH

1. CHANGE nacho BY your user name.

example:

if your user name is Paco

export ROS_WORKSPACE=/home/nacho/catkin_ws by export ROS_WORKSPACE=/home/Paco/catkin_ws

2. CHANGE catkin_ws by your_workspace_name

example:

if your user name is MyWorkspace

export ROS_WORKSPACE=/home/nacho/catkin_ws by export ROS_WORKSPACE=/home/nacho/MyWorkspace

3. CHANGE to your Ubuntu distribution.

source /opt/ros/kinetic/setup.bash

4. CHANGE in IP the name wlp2s0 by your internet connection name. Write in the terminal:

ifconfig

and check this link to learn to change it.

• Restart the terminal and check it worked by typing

Write in the terminal

roscd

It should lead you to ~/catkin_ws in my case. ~/your_workspace_name in your case.

• Compile the workspace

Write in the terminal

catkin_make

• Execute in an Ubuntu terminal: roslaunch iiwa_gazebo iiwa_world.launch

Archivo de Matlab básico para comandar el robot por Torque

src>MatlabExamples>LBRTorqueControlExample

link

Archivo de Matlab modificado por mí para comandar el robot por Torque

src>MatlabExamples>LBRTorqueControl_ModificadoNacho

link