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new nterfaces [was: RE: *** new firmware annoucement ***]

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new nterfaces [was: RE: *** new firmware annoucement ***]

Lorenzo Natale-2

Dear all,

Following up this message from Marco, I would like to highlight that new versions of iCub and YARP implement important changes related to the control modes.

 

New interfaces (http://wiki.icub.org/yarpdoc/namespaceyarp_1_1dev.html):

·        IPositionDirect: allows sending position commands that are not interpolated but actuated immediately be the low-level controllers

·        IPositionControl2 and IVelocityControl2 (extends IPositionControl and IVelocityControl to allow sending position and velocity commands to a subset of joints)

 

The implementation of the IPositionControl/IPositionControl2 was changed so that all request now go to the same port (i.e. rpc). This fixes glitches that were reported by some users that were calling positionMove() and checkMotionDone() in tight sequence.

 

Lorenzo

 

From: Marco Randazzo [mailto:[hidden email]]
Sent: venerdì 1 agosto 2014 17:24
To: [hidden email]
Subject: [rc-hackers] *** new firmware annoucement ***
Importance: High

 

Dear iCubers,

This email is to inform you that we just released a new firmware build (#80) for the iCub robot.

The new firmware implements new features (such as friction compensation for torque control) and explicitly supports the new controlMode/InteractionMode interfaces introduced in yarp 2.3.63 (VERY IMPORTANT: read the documentation page: http://wiki.icub.org/wiki/Control_Modes )

It is quite a big change respect to previous build (#77), and for this reason it was not possible to maintain backward compatibility with the previous firmware version.

This means that, if you update just the icub-main repository to the latest version, the core executable iCubInterface / robotInterface will automatically close, displaying the following message: 

 

###################################################################################

###################################################################################

It has been detected that your control boards are not using the same

CAN protocol used by iCubinterface. iCubInterface cannot continue

Please update your system (iCubInterface and/or your control board firmware.

For further information please visit: http://wiki.icub.org/wiki/Firmware

###################################################################################

###################################################################################

 

You are thus encouraged to update the firmware of your robot, using the canLoader utility (http://wiki.icub.org/wiki/Firmware) , as soon as possible.

If you have doubts about how to perform the firmware upgrade, or you need support during the operation, please contact  [hidden email]

Cheers,

=================================

Marco Randazzo,  PhD

iCub Facility

Italian Institute of Technology (IIT)

Via Morego 30

16163 Genova, Italy

www.iit.it

=================================

 


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