Re: Orocos and rtnet

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A Dimecres 07 Mar=E7 2007 22:28, Peter Soetens va escriure:
> Quoting Leopold Palomo Avellaneda <[email protected]>:
> > A Dimecres 07 Mar=E7 2007 17:06, Leopold Palomo-Avellaneda va escriure:
> >> Hi,
> >>
> >> I don't know if is a dummy question but I would like to develop a
> >> program using orocos but using rtnet to have a network rt communication
> >> with other box.
> >>
> >> I would like to use a simple rtnet communication, because in the other
> >> part is a vxworks, so I'm very limited about soft, so any corba or any
> >> nice features provided by orocos are not possible.
>
> So if I get the picture straight, you've got one box, connected to the
> robot running vxworks _without_ Orocos and one box running Linux with
> Orocos ? And all in between is an ethernet cable ?

Yes, we have a St=E4ubli CS8 controller running a VxWorks 5.3. This box con=
trol=20
a TX90 arm. It has a ethernet wire connected to our network. Howeber my=20
intention is connect it to a GNU/Linux box with rtai + orocos using a cross=
=20
cable, so the connection is direct.

We have a low level library on the CS8 controller that let us to send the=20
torque to each join and read the positions of the encoders. The idea is us =
a=20
simple program that uses this library and send the positions from the=20
encoders and send it to the network (to the orocos box) and receive the=20
torques and send it to the arm. Then in the orocos box, implement the=20
controller using all the features of orocos and and modern system.

> In that case I would create a 'RobotComponent' which internally uses
> RTNet to communicate with the vxworks box (send/receive). You'll have
> to write your message protocol yourselves then. But creating messages
> with RTNet is not that hard. You can run the component using a
> NonPeriodicActivity as discussed in this thread on Orocos-dev:
> <http://www.orocos.org/node/154>. I'd like to remind you that rtnet
> works with both RTAI and Xenomai (so does Orocos).

why NonPeriodicActivity? the controller box has a cycle loop of 4ms and we=
=20
would like to use it. Can we create a PeriodicActivity and try to synchroni=
ze=20
both?


> If you want to discuss more technical details, feel free to post on the
> Orocos-dev forum using the website.

Ok, orocos-dev not orocos users.

Regards,

Leo
=2D-=20
=2D-
Linux User 152692
PGP: 0xF944807E
Catalonia

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