AIRO Tulip

This repository contains:

• The KELO robotics C++ implementation of the KELO Robile platform driver, called KELO Tulip (./kelo_tulip)
• A Python reimplementation with altered and additional functionality by IDLab-AIRO (UGent-imec) for integration in Python projects without a ROS dependency (./airo-tulip)
• A folder ./dashboard which contains the implementation of a dashboard server that should run on the KELO CPU brick boot, that allows remote control of the KELO's peripherals such as the UR arm.
• A folder ./peripherals with code that should run on the Teensy microcontroller that controls the peripherals
• A folder ./utils with utility scripts
• A script ./install.sh which installs the necessary dependencies for the KELO Tulip and AIRO Tulip packages and puts several commands on the path

See the respective subdirectories for more information.

Installation

You can run ./install.sh (as root) to install the airo-tulip package and other commands to a KELO CPU brick running Ubuntu. This script should be run as the root user and will install airo-tulip to directory from which it is executed.

There are some dependencies that need to be installed before you can install airo-tulip (normally these should be installed already):

sudo apt-get update -y
sudo apt-get install -y git gcc curl make

There is one other dependency which should be installed manually: pyenv. As per the official installation instructions, you can install pyenv by running:

curl https://pyenv.run | bash

Then, the way to install airo-tulip is:

git clone https://github.com/airo-ugent/airo-tulip
cd airo-tulip
./install.sh

Usage

After the installation, a dashboard server will automatically be started when the KELO CPU brick boots, listening on port 49790. The server operates over TCP, and an example client can be found in dashboard/airo_tulip_dashboard/example_client.py.