Difference between revisions of "MATLAB code"

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(Created page with " = Introduction = There are currently 4 robots in the robotrainer family: * '''RoboTrainer CLASSIC''' ** The very first version of the robotrainer. Uses a motor from an ‘El...")
 
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= Introduction =
 
= Introduction =
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Training Technology Lab uses MATLAB for most data processing and visualization purposes.
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Several scripts have been written to work with our various technology.
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Here is a list of the following scripts:
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 +
* Rosbag extraction
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** Rosbag loader
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** Rosbag plotter
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** Rosbag video
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== Rosbag extraction ==
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For viewing video stored in a .bag file, [http://wiki.ros.org/rqt_bag rqt_bag] is the standard tool.
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For extracting video
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=== Rosbag loader ===
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Converts .bag files into .mat files. Must be done before using the other 2 scripts
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=== Rosbag plotter ===
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automatically plots known data formats)
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=== Rosbag video ===
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automatically converts rosbags into .avi files with data plot overlays.
 +
  
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There are currently 4 robots in the robotrainer family:
 
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* '''RoboTrainer CLASSIC'''
 
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** The very first version of the robotrainer. Uses a motor from an ‘Ellert’ at about 1 kW power.
 
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* '''RoboTrainer LIGHT'''
 
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** Uses a Brushless DC motor produced for the rear wheel of an electric bicycle. It is rated for 36V and 250W, but currently uses only 24V. The maximal force output in this configuration is around 300 N, and a top speed of 1.6 m/s.
 
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* '''RoboTrainer ONE'''
 
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** A more powerful version of the RoboTrainer Light. 48V and 1kW motor with a much higher resolution of position encoder. Top speed around 2 m/s
 
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* '''RoboTrainer GRAVITY'''
 
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** Has been implemented into a pre-existing motor from a company that makes hospital lifts and has a lift capacity around 200 kg because of high internal gearing. This means that the top speed is only around 0.15 m/s.
 
  
 
= FAQ/Debugging =
 
= FAQ/Debugging =
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=== ROS: use IP address instead of hostname ===
 
=== ROS: use IP address instead of hostname ===
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The "ProjektNet" network does not allow use of hostnames, which means roslaunch must be run with IP addresses instead. This can be a bit cumbersome, but this guide should show how to set this up.
 
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* Great tutorial: [https://github.com/pandora-auth-ros-pkg/pandora_docs/wiki/Remote-Machines-Running-ROS-nodes Remote-Machines-Running-Ros-nodes]
 

Revision as of 10:59, 9 August 2019

Introduction

Training Technology Lab uses MATLAB for most data processing and visualization purposes. Several scripts have been written to work with our various technology. Here is a list of the following scripts:

  • Rosbag extraction
    • Rosbag loader
    • Rosbag plotter
    • Rosbag video

Rosbag extraction

For viewing video stored in a .bag file, rqt_bag is the standard tool. For extracting video

Rosbag loader

Converts .bag files into .mat files. Must be done before using the other 2 scripts

Rosbag plotter

automatically plots known data formats)

Rosbag video

automatically converts rosbags into .avi files with data plot overlays.


FAQ/Debugging

This sections relates to all common problems with the software.

ROS: use IP address instead of hostname

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