Wiki
Clone wikiscl-manips-v2 / howdoi / Jr3
HowTo make Jr3 driver work under 64bit Ubuntu, running kernel 3.8.0-26-generic
1. Download the following two files
https://bitbucket.org/samirmenon/scl-manips-group/downloads/Jr3Interface.zip
https://bitbucket.org/samirmenon/scl-manips-group/downloads/Jr3PciDriver.zip
2. Unpack the Jr3PciDriver.zip or clone the kernel module sources from github
git://git.openrobots.org/robots/jr3-kmod
3. cd into Jr3PciDriver and compile
make
4. Load the kernel module and create a dev node by executing my shell script insertModule
sh insertModule
5. To use the driver include all of the files of Jr3Interface.zip in your project
6. Here's a bare minimum example of how to use the Jr3Interface in your code:
#!c++ //include the header #include "Jr3Sensor.h" // create a sensor object Jr3Sensor ForceTorqueSensor; // set the offsets to zero ForceTorqueSensor.ResetOffsets(); // create an array to store forces and torques // array elements 0-2 will contain forces in x, y, z direction // array elements 3-5 will contain torques around the x, y, z axis float MeasuredCartesianForcesTorques[6]; // call this method everytime you want to read out forces/torques from the sensor // the second parameter specifies which filter to use 1=500Hz, 2=125Hz, feel free to add your own ForceTorqueSensor.GetCartesianForcesTorques(MeasuredCartesianForcesTorques, 1)
7. Include Header Files
When compiling your code you will need to tell the compiler to include the header files from Jr3PciDriver/include/ as well as all the files from Jr3Interface.zip you added to your code
Feel free to contact me if you run into problems: gerlinghaus@cs.stanford.edu
Updated