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THORMANG3 Operation

Preparation

Time Synchronization (MPC)

Reference : ROS network Setup, 5. Timing issues

  1. Connect to the MPC(Motion PC)
    • via ssh
      1. Run below command on the terminal. 
          $ ssh robotis@10.17.3.35
      2. Input password : 111111
    • via VNC
  2. Synchronize time with the PPC(Perception PC)
    • If this is the first synchronization, create the script file.
      1. Create the script file with an editor. 
          $ gedit ~/timesync
      2. Copy below contents in the script file. 
          #! /bin/sh
  sudo date --set='-2 secs'
  sudo ntpdate 10.17.3.35
  sudo hwclock -w
      3. Modify the script file permission(Add execute permission) 
          $ sudo chmod +x timesync
      4. Execute the script file to synchronize time. 
          $ ~/timesync
    • If this is not the first synchronization, execute the script file. 
      $ ~/timesync

roscore (PPC)

CAUTION : If roscore is terminated while it is running, relaunch roscore, thormang3 sensors and thormang3 manager.

  1. Connect to the PPC
    • via ssh
      1. Run below command on the terminal. 
          $ ssh robotis@10.17.3.35
      2. Input password.
        111111
    • via VNC
  2. Launch roscore
    Execute below command on the Terminal 
    $ roscore

thormang3 sensors (PPC)

  1. Connect to the PPC
  2. Execute thormang3_sensors.launch file 
      $ roslaunch thormang3_sensors thormang3_sensors.launch

Reference : thormang3_sensors

THORMANG3 Manager (MPC)

Turn on the actuator power before executing THORMANG3 Manager.

  1. Connect to the MPC
  2. Get superuser permission 
      $ sudo bash
  3. Execute thormang3_manager.launch file 
      # roslaunch thormang3_manager thormang3_manager.launch

    Reference : thormang3_manager

  4. If program is loaded, torque of the actuator will be turned on.

Simple Demo

Manipulation Simple Demo

Simple demo of the thormang3_manipulation_module

Install & Build

Reference : PPC Installation

Usage

  1. Connect to the PPC with SSH client program (IP: 10.17.3.35).

     $ ssh 10.17.3.35 -l robotis

  2. You can execute simple demo with the following command.

     $ rosrun thormang3_manipulation_demo thormang3_manipulation_demo

  3. There are 5 commands for simple demonstration.

    • demo 1 : go to initial posture (from base module) 
      $ rostopic pub -1 /robotis/manipulation_demo/command std_msgs/String "ini_pose"
    • demo 2 : set manipulation module 
      $ rostopic pub -1 /robotis/manipulation_demo/command std_msgs/String "set_mode"
    • demo 3 : go to manipulation initial posture - Joint Space Control 
      $ rostopic pub -1 /robotis/manipulation_demo/command std_msgs/String "base_pose"
    • demo 4 : move right arm (without torso) - Task Space Control 
      $ rostopic pub -1 /robotis/manipulation_demo/command std_msgs/String "right_arm"
    • demo 5 : move left arm (with torso) - Task Space Control 
      $ rostopic pub -1 /robotis/manipulation_demo/command std_msgs/String "left_arm"

Walking Simple Demo

Simple demo of the thormang3_walking_module

Install & Build

Reference : PPC Installation

Usage

  1. Connect to the PPC with SSH client program (IP: 10.17.3.35). 
      $ ssh 10.17.3.35 -l robotis
  2. You can execute simple demo with the following command. 
      $ rosrun thormang3_walking_demo thormang3_walking_demo_node

  3. There are 5 commands for simple demonstration.

    • demo 1 : go to initial posture (from base module) 
      $ rostopic pub -1 /robotis/walking_demo/command std_msgs/String "ini_pose"
    • demo 2 : set manipulation module 
      $ rostopic pub -1 /robotis/walking_demo/command std_msgs/String "set_mode"
    • demo 3 : make balance algorithm enable/disable – Balance ON / OFF 
      $ rostopic pub -1 /robotis/walking_demo/command std_msgs/String "balance_on"  
$ rostopic pub -1 /robotis/walking_demo/command std_msgs/String "balance_off"
    • demo 4 : walk forward – One step forward walking (balance should be turned on) 
      $ rostopic pub -1 /robotis/walking_demo/command std_msgs/String "forward"
    • demo 5 : walk backward – One step backward walking (balance should be turned on) 
      $ rostopic pub -1 /robotis/walking_demo/command std_msgs/String "backward"

GUI Program

How to monitor and control THORMANG3 from the remote.

What is OPC

Operating PC is used to control the robot from the outside.

  1. OS
    • Ubuntu 16.04 LTS
  2. ROS(Robot Operating System)
  3. ROBOTIS ROS Package

OPC Network setting

Reference : Example Setting for OPC

  1. Open the bash file to configure environment 
      $ gedit ~/.bashrc
  2. Append below contents at the end of the .bashrc file 
     # Set ROS Kinetic
 source /opt/ros/kinetic/setup.bash
 source ~/catkin_ws/devel/setup.bash

 ##### Set ROS Network ####
 # PPC CORE(10.17.3.35)
 export ROS_MASTER_URI=http://10.17.3.35:11311

 # local ROS IP
 export ROS_IP=10.17.3.100

    ROS_MASTER_URI : PPC(10.17.3.35)
    ROS_IP : OPC(10.17.3.100)

  3. Use below command to apply modified configuration or open a new terminal window.

     $ source ~/.bashrc

Visualized Monitoring

  1. RViz
    RViz is a 3D visualization tool for robots. Rviz visualizes robot’s posture, camera image, pointcloud and sensor data.

    Reference : http://wiki.ros.org/rviz

  2. Robot Model
    ROS uses URDF(Unified Robot Description Format) robot model information.

    Reference : http://wiki.ros.org/urdf

  3. TF
    TF is generated from Robot model information and each joint data. User can identify Robot’s posture and relative position of each frame with TF.

    Reference : http://wiki.ros.org/tf

  4. Other sensor related Packages
    uvc_camera, urg_node, etc.

Run monitoring THORMANG3

  1. Launch ROS program for THORMANG3

    Reference : How to run THORMANG3’s program

  2. Synchronize time with the PPC(Perception PC)
    • If this is the first synchronization, create the script file.
      • Create a script file with an editor. 
        $ gedit ~/timesync
      • Copy below contents in the script file. 
        #! /bin/sh
sudo date --set='-2 secs'
sudo ntpdate 10.17.3.35
sudo hwclock -w

        PPC(10.17.3.35)

      • Modify the script file permission(Add execute permission) 
        $ sudo chmod +x timesync
      • Execute the script file to synchronize time. 
        $ ~/timesync
    • If this is not the first synchronization, execute the script file. 
      $ ~/timesync
  3. Run Visualization Tool
    User can monitor the robot with below command. 
      $ roslaunch thormang3_description thormang3_opc.launch

Remote Control(GUI Demo)

Demo program for remote control is provided.
Walking, manipulation, head control are provided.

  1. Run thormang3 demo
    The following command will launch the demo program. 
     $ roslaunch thormand3_demo thormang3_demo.launch
  2. Basic Operations

  3. Switching Modes
    The framework of THORMANG3 is consisted of multiple modules.
    Switching mode will decide which module to use.

  4. Move to Mode tab
  5. Click the mode at the top to activate

  6. Check all joints are switched to selected mode.

  7. Initial Posture
    In order to operate the robot safely, the robot should be operated from the initial posture.
    Click Robot Init Pose button at the top of demo program(Effective regardless of current mode)

Calibrate FT Sensors

Instructions about how to calibrate FT Sensors on THORMANG3’s feet. Balance Algorithm for walking works well when FT Sensors are calibrated.

Install & Build

Reference : OPC Installation

Run

Reference : How to execute OPC’s GUI program

Usage

  1. Move to Robot Init Pose
    • Click Robot Init Pose button on the top.

  2. Measure FT Air
    • After reaching to Robot Init Pose, click FT Air button to measure the Force Torque value in the air.
    • THORMANG3 must be hanging on the lift for this procedure.

  3. Measure FT Ground
    • After completing previous procedure, click FT Ground button to measure the Force Torque on the ground.
    • THORMANG3 must be standing on the ground for this procedure.

    • Measured values are displayed on the left of GUID.
    • If measured Fz value on the ground is greater than the measured value in the air by more than around 210N, it is normal.
    • If the value is smaller than around 210N, repeat 1~3 procedure from above.
  4. Apply Init FT
    • After completing above procedures, click Apply Init FT button.
    • Measured Force Torque values in the air and on the ground are transmitted to thormang3_feet_ft_module and FT Sensor calibration is completed.

  5. Save FT Calibration
    • If you want to save current calibration, click Save FT calibration button.

Operate Head Module

Instructions about controlling head of THORMANG3.
Lidar data(2D) can be assembled to PointCloud(3D) by moving the head with Head Control Mode.
User can manipulate head joints to move the sensor attached head.

How to operate Head Control module

Operate Manipulation Module

Instructions about how to operate the manipulation module on the OPC GUI program.

How to operate the Manipulation module

Manipulation Control Mode can control and receive feedback of the upper body.

Joint Space Control
  1. Change the Mode
    • Click Manipulation tab of the demo program.
  2. Manipulation Initial Pose
    • Click Manipulation Init Pose in the Joint Control.
  3. Update the value of specific joint.
    • Select desired joint from Joint Name.
    • Write target value in Joint Value [°].
    • Click Set Destination Joint Angle button.
  4. Obtain current joint value.
    • Select desired joint from Joint Name.
    • Click Get Current Joint Angle button.
Task Space Control
  1. Change the Mode
    • Click Manipulation tab of the demo program.
  2. Manipulation Initial Pose
    • Click Manipulation Init Pose in the Joint Control.
  3. Write the target value of End effector.
    • Select a specific group in the Forward Kinematics tab.
    • write target value in the Inverse Kinematics tab.
    • Click Set Destination Position button.
  4. Obtain current value of End effector.
    • Select a specific group in the Forward Kinematics tab.
    • Click Get Current Position button.
Gripper Control
  1. Change the Mode
    • Click Manipulation tab of the demo program.
  2. Manipulation Initial Pose
    • Click Manipulation Init Pose in the Joint Control.
  3. Gripper Operation
    • Select a specific group in the Gripper tab.
    • Click ON / OFF buttons.

Operate Walking Module

Walking with thormang3_demo and thormang3_foot_step_generator

Examples to control walking by using thormang3_demo and thormang3_foot_step_generator.
Structure looks like the below figure.

Install & Build

Reference : OPC Installation

Run

Reference : How to execute OPC’s GUI program

Usage
  1. Move to Robot Init Pose
    • Click the Robot Init Pose button.

  2. FT Sensor Calibration
    • FT sensor calibration is important for the walking operation.
    • FT Sensor calibration is recommended when there are significant environmental changes such as motor replacement and temperature change.
    • FT Sensor calibration can be done as below.

    Reference : How to calibrate feet ft sensors

  3. Set Mode
    • Click the Walking Module button to switch to Walking Mode.

  4. Balance On
    • Select the Walking tab from the demo program.
    • Click On button in the Balance Control.

    • Balance is turned on by configuring [Balance Parameter] with the /robotis/walking/set_balance_param service.
    • Balance Parameter is updated with the saved value in the [thormang3_foot_step_generator/data/balance_param.yaml].

  5. Walking Control
    • Configure Walking Parameters on the right of the Direction Walking panel.
    • After configuring parameters, clicking one of Walking Directions will initiate walking of THORMANG3.

    • The procedure flows as below.

Walking with thormang3_demo and footstep_planner

A walking example that follows StepData using footstep_planner.

Install & Build

Reference : OPC Installation

Run

Reference : How to execute OPC’s GUI program

Usage
  1. Basic Operation
  2. Add Visualization
    • Click the Add button on the Rviz window.
    • Select the By Topic tab and select the /demo/foot_step_marker/MarkerArray, then click OK.

  3. Interactive Marker
    • Click the Publish Point button on the Rviz window.
    • Click one of the THORMANG’s feet on the Rviz window.

    • Click Set Marker button.
    • The Interactive Marker is activated on the Rviz window as below figure.

  4. StepData Planning
    • Move the Interative Marker and click Publish Pose button.
    • Walking tab of the thormang3_demo GUI should be selected ahead.

    • After checking “Get Pose for Step” message from the GUI and activated Plan button, click Plan button.

    • When planning is completed, planned StepData can be seen on the Rviz GUI window.

  5. Start Walking
    • Confirm planned StepData from the thormang3_demo GUI and click GO! button.

Offset Tuner

Instruction about how to run the Thormang3 offset tuner program.

Execute in MPC

Execute the offset tuner server first (thormang3_manager should be terminated to run the offset tuner program).

# roslaunch thormang3_offset_tuner_server thormang3_offset_tuner_server.launch

Execute in OPC

Execute the offset tuner GUI program.

$ rosrun thormang3_offset_tuner_client thormang3_offset_tuner_client

How to use GUI program

Tuner Client

Instruction about how to run the Thormang3 gain and offset tuner program.

Execute in MPC

This program works with thormang3_p_manager. User don’t have to run the server for this program.

# roslaunch thormang3_p_manager thormang_p_manager.launch

Execute in OPC

Execute the gain and offset tuner GUI program.

$ rosrun thormang3_tuner_client thormang3_tuner_client

How to use GUI program


CAUTION : When you click initial pose or change module to the others, THORMANG3 may jump.
This should be done with THORMANG in the air.

  1. Go to initial pose : If user click this button, tuning_module in robotis_controller is activated and THORMANG3 goes to initial pose.
  2. Select kinematics group
  3. Load present status : goal position, offset, gain
  4. Change offset or gain
  5. Save the changed value to config file