These instructions shoe how to get joint positions into HAL. Example video: machinekit driven by ros joint states 2016 01 10 15 20
Installation of:
-
ROS
-
Machinekit development setup
-
a ROS publisher
/joint_path_commandto which thelistenernode fromros_hal_testscan subscribe to -
depending on the hardware you will need to use this machinekit branch (no support !!!) which uses pins instead of params for the mesa hardware stepgen. BEWARE only tested on a mesa 5i20 card. YMMV
install the component from ros_hal_tests
with the command comp --install joint_stream.comp
Start HAL in a new terminal with halrun. A running HAL is needed for
../scripts/halfile.py to set up a configuration from python with the
Machinekit Cython bindings.
bas@xw6600:~$ halrun
msgd:0 stopped
rtapi:0 stopped
halcmd:now type start in terminal to start the RT threads (of which there are none ATM)
load the HAL configuration
cd {wherever it's located}/ros_hello_machinekit/scripts
python halfile.pystart whatever ROS robot you are running as long as there is a /joint_path_command
topic to attach to
