CORC is a free and open source robotic development software stack. The project has been under development at the University of Melbourne in partnership with Fourier Intelligence for use with their X2 exoskeleton. The software has been designed to be extensible to any embedded Linux and CANopen enabled Robotic platform.
- Extensible framework to represent most multibody robotic systems.
- Event driven state machine to develop custom applications for your robot.
- Implementation of CANopen Socket to provide an interface between CAN enabled embedded Linux system and CANopen configured motor drivers/sensors.
- Documentation
- Fully functional application examples.
We will be running through building and testing a simple test state machine (ExoTestMachine.cpp), the source code can be found in the apps folder of the root directory.
The current recommended and tested environmen is Debian jesse 8.11 on a BeagleBone Black Firmware. Theoretically, we can build on other distros and Linux platforms as well, but they have not been testd.
Workbench build environments for most platforms can be found here
Clone the project from git repository(CANopenSocket used in robot homing sequence):
$ git clone https://github.com/Willcampbellmelb/CANOpenRobotController.git
$ cd <CANOpenRobotController_directory>
$ make exe
-
Download FileZilla and connect to BeagleBone.
Username: debian
Password: temppwd
Transfer executable and initRobot folders.
- SSH into BeagleBone (tutorial) or similar Linux board, use the same user and password as above.
- Initialize Virutal CAN device to bind to and run candump(candump manpage) on the VCAN interface.
cd initRobot
./initVCAN- Launch second instance of terminal and ssh into device to Launch application
cd build
sudo ./EXO_APP- Terminal one should display CAN message output on VCAN from our EXO_APP application output. On startup init PDO messaging should be sent and appear as follows:
vcan0 704 [1] 00
vcan0 184 [2] 00 00 # PDO message
vcan0 704 [1] 05Follow terminal instructions using your keyboard to run through test stateMachine.
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WELCOME TO THE TEST STATE MACHINE
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PRESS S to start program
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Notice that terminal one(candump) sends out messages coresponding with application movement commands as follows: Specifics of CAN messages can be found in the drive.h source files.
vcan0 601 [8] 2F 60 60 00 01 00 00 00 #initi position control SDO
vcan0 764 [1] 05
vcan0 601 [8] 80 60 60 00 00 00 04 05 #initi position control SDO- Detailed documentation: https://exoembedded.readthedocs.io/en/latest/
- Source code documentation: https://capstonealex.github.io/exo/index.html
- Project Repository: https://github.com/capstonealex/exo
- CANopen Socket: https://github.com/CANopenNode/CANopenSocket
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.