dds-robot-arm's Introduction

dds-robot-arm

Control robotic arm with leap motion via DDS

Demo SOP

Power on two PCs
Plug-in usb cable and turn on AP Router
Check whether notebook connect to AP router automatically
Open terminal, split the console window
1. run goleap
2. run dds_motion
3. ssh ad; run dds_robot
4. ssh ad; run dds_robot2

INSTALL LIBS

System update

sudo apt-get update
sudo apt-get install git libssl-dev libc-ares-dev build-essential libtool autoconf automake uuid-dev cmake

Install DDS Library

Download Vortex Lite, then install it.

Install libzmq(zeromq) 3.2.5

wget http://download.zeromq.org/zeromq-3.2.5.tar.gz
tar xvzf zeromq-3.2.5.tar.gz
cd zeromq-3.2.5
./configure
make
sudo make install
sudo ldconfig
#sudo ln -sf /usr/local/lib/libzmq.so /usr/lib/libzmq.so

Install czmq (high-level C binding for zeromq)

git clone git://github.com/zeromq/czmq.git
cd czmq
./autogen.sh
./configure
make
sudo make install
sudo ldconfig

Install librs232 (cross-platform serial library)

git clone https://github.com/taka-wang/librs232.git
cd librs232
./autogen.sh
./configure --prefix=/usr
make
sudo make install
sudo ldconfig

Install golang 1.6 & zmq binding (for goleap)

sudo apt-get install pkg-config
curl -O https://storage.googleapis.com/golang/go1.6.linux-amd64.tar.gz
tar -xvf go1.6.linux-amd64.tar.gz
sudo mv go /usr/local
nano ~/.profile
export PATH=$PATH:/usr/local/go/bin

go get github.com/taka-wang/zmq3
go get github.com/taka-wang/gomotion

BUILD

# build dds_motion, dds_robot, dds_robot2
cd dds-robot-arm
mkdir build
cd build
cmake ..
make

# build goleap
cd dds-robot-arm/goleap
go build

# build mqtt_motion, mqtt_robot
cd dds-robot-arm/mqtt
mkdir build
cd build
cmake ..
make

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