ROS2 VTEM Control

ROS2 package for the control of the Festo VTEM motion terminal. Adapted from https://github.com/tarquasso/3d_soft_trunk_contact/blob/master/SoftTrunk/src/MPA.cpp

ROS2 package

Build

colcon build --packages-select vtem_control_cpp vtem_control_msgs

Run

Run input and output pressures nodes using launch file

ros2 launch vtem_control_cpp vtem_control.launch.py

Run subscriber node to send input pressures to VTEM

ros2 run vtem_control_cpp input_pressures_sub_node

Run publisher node to grab output pressures from VTEM

ros2 run vtem_control_cpp output_pressures_pub_node

Run valve test

ros2 run vtem_control_cpp valve_test

Run python publisher for input pressure step function

python3 scripts/python_pub_node.py

C++ package without ROS2 dependencies

Build

cmake -S . -B build -DBUILD_WITH_ROS2=false

Install

cmake --install build

Run valve test

/usr/local/lib/vtem_control_cpp/valve_test

Matlab

Requires Python 3.7 to be installed to load custom FluidPressures messages