Difference between revisions of "Tekkotsu XWalk Introduction"

From IPRE Wiki
Jump to: navigation, search
Line 18: Line 18:
 
*E.Root Control -> TekkotsuMon -> Walk Controller
 
*E.Root Control -> TekkotsuMon -> Walk Controller
 
*Actually, not only the Walk Controller will call XWalk, many other motions in the list, including Chase Ball call XWalk, too.
 
*Actually, not only the Walk Controller will call XWalk, many other motions in the list, including Chase Ball call XWalk, too.
 +
 +
2)Running XWalk with a real Robot
 +
*A. Open a terminal windown
 +
*B.cd /usr/local/Tekkotsu/tools/mon
 +
*C. enter ./ControllerGUI ip-address
 +
(Usually we need to run ControllerGUI whenenver we want to use XWalk, with ControllerGUI, we will be able to control the robot easily.)

Revision as of 02:45, 16 December 2010

What is XWalk

XWalk is a motion trajectory generator in Tekkotsu. Once the configuration of a robot is set in the .kin file, XWalk will enable the robot to walk over a certain displacement at a certain speed.

How to run XWalk

1)Running XWalk with a Robot simulation

    cd Tekkotsu/tools/mirage
    ./mirage

Afterward, a window should appear, displaying the Mirage 3D environment.

  • C. connecting Tekkotsu
  cd Tekkotsu/project
  ./tekkotsu-TARGET –c mirage.plist (for example, if we use the simulation of Gort, we type :
  ./tekkotsu-GORT –c mirage.plist)
  • D.turning on ControllerGUI
  cd Tekkotsu/tools/bin
  ./ControllerGUI localhost
  • E.Root Control -> TekkotsuMon -> Walk Controller
  • Actually, not only the Walk Controller will call XWalk, many other motions in the list, including Chase Ball call XWalk, too.

2)Running XWalk with a real Robot

  • A. Open a terminal windown
  • B.cd /usr/local/Tekkotsu/tools/mon
  • C. enter ./ControllerGUI ip-address

(Usually we need to run ControllerGUI whenenver we want to use XWalk, with ControllerGUI, we will be able to control the robot easily.)