Commit 38c8a99d authored by Lorenz Halt's avatar Lorenz Halt 🔀
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parent 2bde6c0a
# ilc # ilc
#P
#Paths which need to be adapted are:
#1: ilc_rosproxy.py data_path in bringup-****.launch (Folder must exist for data to be stored)
#2: Paths in ilc_skills and ilc_rosproxy calls in *****.xml (Folder must exist for data to be stored)
#---------------------Microsim----------------------------
#To launch a Test-run with the micosimulator:
roslaunch ilc bringup_microsim.launch roslaunch ilc bringup_microsim.launch
rosrun ilc ilc_server.py --folder /home/victor/Data_Storage rosrun cppitasc file_reader ilc apps/rob_ilc_lin_test.xml
#Data can be plotted with scripts/data_visualizer.ipynb.
# Available Data is: measurements (logged by measurement_logger to path - see rob_usb_ilc.xml for path, each ilc_skill has it's own measurement_logger with respective path)
# ilc_data such as error, ff, resampled_ff, filtered_ff,.. (logged by ilc_rosproxy to path - bringup_microsim.launch for path)
#----------------------Real Robot-----------------------------------
#To launch an Linear-Movement or Push Application with ilc adaption on the real robot:
roscore
#load ilc_rqt.yaml into rqt (necessary for frames)
rqt
#launches frames and 2 ilc_rosproxy (and other stuff)
roslaunch ilc bringup_ur5.launch
#Alternative (to simulate):
roslaunch ilc bringup_microsim.launch
#Lin: linear movement downwards until contact with ground (foam) is nearly reached:
rosrun cppitasc file_reader ilc apps/rob_ilc_lin_contact.xml
#Push: linear movement downwards startin 1cm above foam until 10 Newton are reached:
rosrun cppitasc file_reader ilc apps/rob_ilc_lin_contact.xml
#Lin and Push: Lin and Push in sequential execution (TODO: not yet with setpoint_gen version- skills need to be adapted)
rosrun cppitasc file_reader ilc apps/rob_ilc_lin_force.xml
#Data can be plotted with scripts/data_visualizer.ipynb.
# Available Data is: measurements (logged by measurement_logger to path - see rob_usb_ilc.xml for path, each ilc_skill has it's own measurement_logger with respective path)
# ilc_data such as error, ff, resampled_ff, filtered_ff,.. (logged by ilc_rosproxy to path - bringup_microsim.launch for path)
#------------------------USB--------------------------------
#To launch the USB-Application with ilc:
roscore
#load ilc_rqt.yaml into rqt (necessary for frames)
rqt
#launches frames and 2 ilc_rosproxy (and other stuff)
roslaunch ilc bringup_ur5.launch
#adjust paths #USB_application with ilc:
rosrun cppitasc file_reader ilc apps/v_lin_log_ff-ctrl_single_axis.xml rosrun cppitasc file_reader ilc apps/rob_usb_ilc.xml
#USB_application without ilc:
rosrun cppitasc file_reader ilc apps/rob_usb_no_ilc.xml
#jupyter notebooks in scripts #Data can be plotted with scripts/data_visualizer.ipynb.
#Available Data is: measurements (logged by measurement_logger to path - see rob_usb_ilc.xml for path, each ilc_skill has it's own measurement_logger with respective path)
#ilc_data such as error, ff, resampled_ff, filtered_ff,.. (logged by ilc_rosproxy to path - bringup_microsim.launch for path)
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