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drexel_hdt_mk2 [2016/11/06 03:27]
dwallace
drexel_hdt_mk2 [2016/11/06 17:21] (current)
dwallace
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 therefore, before following this tutorial, It is very helpful to be familiar with Linux operation if the user has no experience with Linux. therefore, before following this tutorial, It is very helpful to be familiar with Linux operation if the user has no experience with Linux.
  
-{{dylanw:​Section_010.jpg}}\\ ​ +{{dylanw:​Section_010.jpg?400}}\\ 
  
 ==== How to operating for HDT arm with joystick controller ==== ==== How to operating for HDT arm with joystick controller ====
- 
  
 === Step 1. ===  === Step 1. === 
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 === Step 2. === === Step 2. ===
 Turn on power on gantry control box. (labeled **"​Hubo"​**) Turn on power on gantry control box. (labeled **"​Hubo"​**)
-{{dylanw:​Section_006.jpg}}\\ ​+ 
 +{{dylanw:​Section_006.jpg?500}}\\ 
  
 === Step 3. === === Step 3. ===
 Check the emergency stop is pull out on gantry control box (left top corner -see step2 Pic-) Check the emergency stop is pull out on gantry control box (left top corner -see step2 Pic-)
  and also check another emergency stop which attach on the gantry framework that beside to the door is pulled out.  and also check another emergency stop which attach on the gantry framework that beside to the door is pulled out.
-{{dylanw:​Section_007.jpg}}\\ ​+ 
 +{{dylanw:​Section_007.jpg?500}}\\ 
  
 === Step 4. === === Step 4. ===
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 === Step 5. === === Step 5. ===
 Once open the Teamviewer click the **"​Computer & Contacts"​** that is place on the bottom of right. Once open the Teamviewer click the **"​Computer & Contacts"​** that is place on the bottom of right.
-{{dylanw:Screen Shot 2014-04-16 at 11.45.17 PM.png}}\\ ​+ 
 +{{dylanw:Screen_Shot_2014-04-16_at_11.45.17_PM.png?500}}\\ 
  
 === Step 6. === === Step 6. ===
 Double Click the **"​DASL-GANTRY-PC-Windows"​** Double Click the **"​DASL-GANTRY-PC-Windows"​**
-{{dylanw:​Selection_001.png}}\\ ​+ 
 +{{dylanw:​Selection_001.png?500}}\\ 
  
 === Step 7. === === Step 7. ===
 Hit the **"​Power UP"** button on the top of left corner in the online Hubo: Gantry Control Box. Hit the **"​Power UP"** button on the top of left corner in the online Hubo: Gantry Control Box.
  (If the Gantry control box is not opened, Double click the **"​GantryGUI"​** file to run control box)  (If the Gantry control box is not opened, Double click the **"​GantryGUI"​** file to run control box)
-{{dylanw:​Section_008.png}}\\ ​+ 
 +{{dylanw:​Section_008.png?500}}\\ 
  
 === Step 8. === === Step 8. ===
 Move the gantry with Xbox controller to desired location. Move the gantry with Xbox controller to desired location.
  ​(Before moving the arm Gantry, Make sure that the work space is clear)  ​(Before moving the arm Gantry, Make sure that the work space is clear)
-{{dylanw:​Section_009.jpg}}\\ ​+ 
 +{{dylanw:​Section_009.jpg?500}}\\ 
  
 === Step 9. === === Step 9. ===
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     * 11 = All home(zero position)     * 11 = All home(zero position)
     * 12 = Move thumb - "yaw 90"     * 12 = Move thumb - "yaw 90"
-{{dylanw:​Section_011.jpg}}\\ ​+    *  
 +{{dylanw:​Section_011.jpg?500}}\\ 
  
 === Step 11. === === Step 11. ===
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  and wait until the text which belongs to **"​Planning Library"​** changes from red to green.  and wait until the text which belongs to **"​Planning Library"​** changes from red to green.
  ​(Assume that the ROS environment is set up correctly, if the command is not working properly see 1.9step 9 above and fulfill it.)  ​(Assume that the ROS environment is set up correctly, if the command is not working properly see 1.9step 9 above and fulfill it.)
-{{dylanw:​Section_020.png}}\\ ​+ 
 +{{dylanw:​Section_020.png?500}}\\ 
  
 === Step 2. === === Step 2. ===
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  ​**"​~/​rosbuild_ws/​dasl_ros_pkg/​dasl_controllers/​mk2_controller/​nodes"​** and in that folder, launch the file by type **"​move_mk2_lk.py"​**.  ​**"​~/​rosbuild_ws/​dasl_ros_pkg/​dasl_controllers/​mk2_controller/​nodes"​** and in that folder, launch the file by type **"​move_mk2_lk.py"​**.
  If the file is open correctly, it seems like the picture which is attached in this section.  If the file is open correctly, it seems like the picture which is attached in this section.
-{{dylanw:​Section_021.png}}\\ ​+ 
 +{{dylanw:​Section_021.png?500}}\\ 
  
 === Step 5. === === Step 5. ===
drexel_hdt_mk2.txt · Last modified: 2016/11/06 17:21 by dwallace