Sweetie Bot motion control subsystem

This directory contains component of real-time motion control system of Sweetie Bot robot. Although they are designed for Sweetie Bot they potentially can be used with any robot.

Sweetie Bot motion control system is based on OROCOS real-time framework. OROCOS application consists of a few binary components with well-defined interfaces. How these components are connected and interacts with each other is determined by deployment scripts. This directory contains only OROCOS components. Deployment scripts are located in sweetie_bot_deploy package from sweetie_bot repository.

Full description of Sweetie Bot motion control system concept is located here: Motion Control Concepts (rus), Motion Control Description (rus).

OROCOS packages:

• sweetie_bot_logger --- OROCOS logger extension.
• motion --- motion control related components
  • sweetie_bot_robot_model --- semantic robot model service. Provides kinematic chains descriptions, contact definitions and so on.
  • controllers --- controllers components. They produce reference robot pose depending on current goal.
  • sweetie_bot_resource_control --- resource arbiter prevents conflicts between controllers and pass resources (controlled kinematic chains: legs, head and etc) between them.
  • sweetie_bot_aggregator --- aggregate partial reference poses in one full pose.
  • sweetie_bot_kinematics --- forward and backward kinematics (kinematic chains level),
  • sweetie_bot_odometry --- calculates base movements given contacts' list.
  • sweetie_bot_dynamics --- perform dynamics calculation for current pose: necessary servos efforts, balance conditions, contacts reaction forces.
  • sweetie_bot_servo_inv --- translate reference robot pose to servos commands.
• motion_msgs --- messages definitions
  • sweetie_bot_resource_control_msgs --- internal message for resource management.
  • sweetie_bot_kinematics_msgs --- robot state in convenient for OROCOS subsystem form.
  • sweetie_bot_control_msgs --- control messages, they are used to control robot from ROS.
• herkulex --- hardware driver for Doungbu Herkulex DRS-0101/0201.
• sweetie_bot_orocos_misc --- helper functions.