ROS packages and Change the TinyCtrl Project: Difference between pages

Revision as of 12:28, 28 September 2020

The configuration of the robot system is defined by a project file. This file e.g. defines which robot is used, how many IO modules are available, or if a linear axis is coupled.

The project file is the file "/home/root/TinyCtrl/Data/Projects/EmbeddedCtrl.prj" on the embedded linux board. It is a standard XML file and can be swapped with other project files, or changed in a standard text editor. It is important to also change the contents of the project file used in CPRog. If the two project files are not identical, then problems might occur during programming and the execution of the programs.

To change or to adapt the files an FTP client can be used, e.g. FileZilla. Please find a guide on how to use this FTP client here: FTP and putty Access.

There are two ways to proceed: change the project file, or adapt it.

Change the Project File

If there are several project files in the folder you can rename them:

Connect the FTP client to the embedded control
Change into the folder /home/root/TinyCtrl/Data/Projects/
Rename the current project file into e.g. "EmbeddedCtrl_BAK_Date.prj"
Rename another available project file into "EmbeddedCtrl.prj"
Restart the control
You can verify the new project by viewing LogFile "/home/root/TinyCtrl/logMessages.log", you can open it with the FTP client

Change the Project File Contents

You can also open the project file using the FTP client and then make changes by hand. This can be useful e.g. to add another DIO module. Please refer to the CPRog project files in "c:\CPRog\Data\Projects\ for examples.

@@ Line 1: / Line 1: @@
-Information on the Robot Operating System by OSRF can be found at [http://www.ros.org www.ros.org]. ROS is a framework with many low, medium, and high level functionalities relevant in robot environments.
+The configuration of the robot system is defined by a project file. This file e.g. defines which robot is used, how many IO modules are available, or if a linear axis is coupled.
-The code is provided "as is" without any guarantee.
+The project file is the file "/home/root/TinyCtrl/Data/Projects/EmbeddedCtrl.prj" on the embedded linux board. It is a standard XML file and can be swapped with other project files, or changed in a standard text editor.
+It is important to also change the contents of the project file used in CPRog. If the two project files are not identical, then problems might occur during programming and the execution of the programs.
-= ROS1 package by TruPhysics GmbH =
+To change or to adapt the files an FTP client can be used, e.g. FileZilla. Please find a guide on how to use this FTP client here: [[FTP and putty Access]].
-This package aims to improve usability and compatibility compared to the older ROS packages. It supports ROS noetic and was tested on Ubuntu 20.
+There are two ways to proceed: change the project file, or adapt it.
-Currently only ReBeL robots are supported.
-* [https://bitbucket.org/truphysics/igus_rebel_ros1/src/master/ Source code download]
+== Change the Project File ==
-= ROS2 package by TruPhysics GmbH =
+If there are several project files in the folder you can rename them:
+* Connect the FTP client to the embedded control
+* Change into the folder /home/root/TinyCtrl/Data/Projects/
+* Rename the current project file into e.g. "EmbeddedCtrl_BAK_Date.prj"
+* Rename another available project file into "EmbeddedCtrl.prj"
+* Restart the control
+* You can verify the new project by viewing LogFile "/home/root/TinyCtrl/logMessages.log", you can open it with the FTP client
-This package aims to improve usability and compatibility compared to the older ROS packages. It supports ROS2 jazzy and was tested on Ubuntu 24.04.2 and Docker.
-Currently only ReBeL robots are supported.
+== Change the Project File Contents ==
-*[https://bitbucket.org/truphysics/igus_rebel_ros2/src/main/ Source code download]
+You can also open the project file using the FTP client and then make changes by hand. This can be useful e.g. to add another DIO module.
+Please refer to the CPRog project files in "c:\CPRog\Data\Projects\ for examples.
-= ROS2 EduMove package source code by TruPhysics GmbH =
+[[Category:TinyCtrl]]
-This package is intended fo EduMove AMRs.
-* [https://bitbucket.org/truphysics/edumove_ros2/src/main/ Source code download]
-* [https://downloads.cpr-robots.com/Documentation/EN/Software/ROS/EdumoveDocumentation.pdf Documentation]
-= ROS2 package (deprecated) =
-This repository aims to bring ROS2 support to igus robots. The main focus and is igus ReBeL in the 6 DOF version, but other devices may also be used. This package provides two communication options: Via CRI ethernet interface to the iRC igus robot control or directly via CAN to the motor controller without using the iRC.
-* [https://github.com/CommonplaceRobotics/iRC_ROS Source Code download]
-= ROS2 EduMove package (deprecated) =
-This repository aims to bring ROS2 support to the EduMove mobile platform with Rebel robot arm. We provide ROS2 nodes that connect to the igus Robot Control via the CRI interface. Both the mobile platform, and the robot arm can be commanded.
-This repo focuses on the basic communication. Higher functionality like SLAM, planning, etc can be added with further ROS2 components.
-* [https://github.com/CommonplaceRobotics/EduMove-ROS2 Source code download]
-= ROS1 package (deprecated) =
-This repository contains hardware interfaces and an RViz plugin to allow teleoperation for testing. It works with ROS Melodic. We suggest to use the iRC_ROS package in combination with ROS2.
-* [http://www.github.com/CPR-Robots Source code download]
-[[Category:ROS]][[Category:Downloads]]