robot

The system is tested on ubuntu Xenial armhf Image avalaible on MEGA Cloud https://mega.nz/#!oIFhUZLa decryption Key: !K1EM5aygbKRRNzjF8cbqpAs_myevqVCU3P7QGwaH8RE

this package need :

                ROS Kinetic 

                pyserial
                
                enum
                
                python-tk

Installation:

ROS:

install ROS Kinetic http://wiki.ros.org/kinetic/Installation/Ubuntu

Python packages:

  $ sudo apt-get install python-pip

  $ sudo pip install pyserial

  $ sudo pip install enum

  $ sudo apt-get install python-tk

now use git clone to download the package:

  $ cd catkin_ws/src

  $ git clone https://github.com/mekhtiche/robot_body.git

  $ cd ..

  $ catkin_make

source the work space

  $ sudo nano .bashrc

in the end of the file add 

  source ~/catkin_ws/devel/setup.bash
  export ROS_MASTER_URI=http://odroid:11311
  export ROSLAUNCH_SSH_UNKNOWN=1

set the devices IPs

  nano /etc/hosts
  
add the following lines:

  #127.0.0.1      odroid
  127.0.0.1       localhost
  10.42.0.1       odroid
  10.42.0.23      right_raspberrypi
  10.42.0.24      left_raspberrypi
  10.42.0.25      head
  10.42.0.71      yoga

To launch the robot:

  $ roslaunch robot_body Robot_start.launch

  $ roslaunch robot_body Robot_start_stat.launch

To record sign:

  $ roslaunch robot_body Recording.launch

  $ roslaunch robot_body Recording_stat.launch

INFO: to change the baudrate go to pypot/dynamixel/io/abstract_io.py and change the baudrate value in init and open functions