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rosie

README.md

Rosie Demo Code

This folder contains everything needed to run the Rosie mobile manipulator kit. It assumes that you have:

  • Rosie Kit (Diff-drive, Omni-drive, or Mecanum-drive)
  • iOS device capable of running ARKit (iPhone 6S or later, iPad 2017 or later, iPad Pro)

To get started:

  • Download this folder
  • Start Matlab (2013b or later)
  • run startup.m
  • run rosieDemo( 'mobileBaseType' )
    • where 'mobileBaseType' is: 'diff-drive', 'omni', or 'mecanum'

The demo will start up looking for the actuators in the robot, followed by the mobile device for input.

Coordinate frame convention

  • X = forward (from driver's perspective)
  • Y = left (from driver's perspective)
  • Theta = counter-clockwise rotation

Input Controls

Input Command Note
Right Joystick (A8 and A7) Base X-Y Velocity
Left Joystick (A1) Base Theta Velocity
Slider (A6) Gipper force Drag down to close. Drag up to open
Phone Pose Arm end-effector pose
Slider (A3) Scale of end-effector translation Should normally be all the way up. Drag this to all the way down, to reset the pose and hold it place.
Button (B1) Reset Pose of the gripper When you press this, make sure the phone is oriented face down, matching the gripper.

Automatic startup instructions for Linux

This process was tested using Ubuntu 16.04.

The folder also contains scripts designed to automatically launch the demo. rosieStart.sh is used to launch Matlab and start the script with the correct path (by default it assumes the omni type, but it can be edited). The install.sh script will create a symbolic link to rosieStart.sh so that the user can simply type rosieStart into a terminal window and the Matlab script will execute.

To install:

  • Open a command prompt and navigate to the top level rosie kit directory
  • Make sure that the install.sh script has execute permissions: chmod +x install.sh
  • Run install.sh: ./install.sh

If you would like to have the script start on boot, add the rosieStart command under Startup Applications if using Ubuntu or use another standard method for automatically launching the program.

Note that if you move the location of rosieStart.sh you will have to delete the symbolic link from /usr/bin and run install.sh again.