⚗️ Test Code for RobotLibrary

This repository contains executables to numerically validate the algorithms in Robot Library.

🧭 Navigation

• Requirements
• Installation
• Usage
• Contributing
• License

📋 Requirements

• Eigen 3.4, and
• Robot Library (obviously!)

Note

This repository was built & tested in Ubuntu 22.04. If you're using Ubuntu 20.04 (or earlier?), you will need to manually install Eigen 3.4, instead of through the command line.

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💾 Installation

The directory structure should look something like this:

workspace/
├── software_robot_library/
└── testing_robot_library/
    ├── python/
    ├── src/
    ├── urdf/
    ├── CMakeLists.txt
    ├── LICENSE
    └── package.xml

1. In your workspace directory, clone the repository:

git clone https://github.com/Woolfrey/testing_robot_library.git

2. Navigate in to the directory and create the build folder:

cd testing_robot_library mkdir build && cd build

3. Now make it:

cmake ../ make

If you now type ls in to the terminal you should see multiple executables:

• cartesian_velocity_control
• joint_velocity_control
• load_model
• singularity_start
• spline
• trapezoidal_velocity

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🔧 Usage

You can run the executables from the build/ folder using ./<executable_name> <argument_1> <argument_2> ... etc.

They each output a .csv file of data (trajectory tracking error, joint positions, joint velocities, etc.) that you can use to plot the data.

Inside the python/ folder are several Python scripts for visualising the data.

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🤝 Contributing

Contributions to this repositore are welcome! Feel free to:

1. Fork the repository,
2. Implement your changes / improvements, then
3. Issue a pull request.

You can also raise an issue to ask for new features.

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📜 License

This software package is licensed under the GNU General Public License v3.0 (GPL-3.0). You are free to use, modify, and distribute this package, provided that any modified versions also comply with the GPL-3.0 license. All modified versions must make the source code available and be licensed under GPL-3.0. The license also ensures that the software remains free and prohibits the use of proprietary restrictions such as Digital Rights Management (DRM) and patent claims. For more details, please refer to the full license text.

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