The supported version that is affected is 11. Vulnerability in the Oracle Solaris product of Oracle Systems (component: XScreenSaver). The Debian xscreensaver 5.42+dfsg1-1 package for XScreenSaver has cap_net_raw enabled for the /usr/libexec/xscreensaver/sonar file, which allows local users to gain privileges because this is arguably incompatible with the design of the Mesa 3D Graphics library dependency. The attacker must physically disconnect many video outputs. A buffer overflow in update_screen_layout() allows an attacker to bypass the standard screen lock authentication mechanism by crashing XScreenSaver. If you get the following "error: moveo_moveit/ArmJointState.XScreenSaver 5.45 can be bypassed if the machine has more than ten disconnectable video outputs. Use rostopic echo / to view the data on in your terminal Use rostopic list and search for these topics to check if they are currently running Change "Joint1, Joint2, etc." to the number of steps you want each joint to move.rostopic pub joint_steps moveo_moveit/ArmJointState./gripper_angle: current angle of the gripper./joint_steps_feedback: same as /joint_steps, except published back by arduino to check that information is being received by Arduino correctly./joint_steps: steps necessary to move each motor to desired position.Also reads/outputs the current pose/position of the end effector.Īfter step 7, there should be 3 new topics created: Move_group_interface_coor_1.cpp: Can hardcode a pose/position for the end effector in the script and plan/execute a trajectory there. Joint_steps is an array of 6 Int16 values (though we only have 5 joints in this case) that represent the accumulated steps executed by each joint since the moveit_convert node has started running. Moveit_convert.cpp: Converts simulation 'joint_state' rotations (from the 'move_group/fake_controller_joint_states' topic) to steps and publishes on the /joint_steps topic. moveo_moveit_configĬonfiguration for moveit, a motion planning framework that has a plugin in RVIZ, which is what we are using here. Necessary for simulation in RVIZ and moveit configuration. About Directories moveo_urdfĬontains the URDF (Unified Robot Description File) for the BCN3D Moveo. Now, whatever trajectories are planned and executed in simulation are echoed on the real robot. rostopic pub gripper_angle std_msgs/UInt16 (publishes gripper_angle).rosrun moveo_moveit moveit_convert (converts simulation joint_state rotations to steps and publishes on the /joint_steps topic, which the Arduino script subscribes to).rosrun rosserial_python serial_node.py /dev/ttyUSB0(establishes rosserial node that communicates with Arduino).With the simulation already running, execute each of the following commands in it's own, separate terminal: (Note: if you don't already know these values, you can experimentally get how many microsteps/revolution your motors have using the MultiStepperTest.ino and recording/eyeballing the results) In 'moveit_convert.cpp' replace the stepsPerRevolution array with the steps/revolution (or microsteps/revolution) of each of your motors. Make sure the robot and the simulation are in the same position (to set the simulation upright initially- select "Upright" from "Select Goal States" in RVIZ. ROS makes you remove ros_lib and regenerate it every time you introduce a new custom message.Ĭhange the pin layout between your robot and the RAMPS 1.4 in 'moveo_moveit_arduino.ino' and upload the file to your Arduino (I'm using MEGA 2560). If ros_lib already exists in your Arduino libraries (/libraries), follow the last troubleshooting tip or you'll get an error saying "ArmJointState.h: no such file".Make sure you download the AccelStepper ( AccelStepper Library Download) and ros_lib ( rosserial-arduino tutorial) libraries into your Arduino environment. Moving the real robot, synced with the simulated robot's trajectories. Select a new goal state by either dragging the interactive marker (light blue ball on the end effector) or under "Select Goal State." Once goal state is updated, "Plan and Execute" will plan and execute the trajectory from the start state to the updated goal state. Once the window loads, in the bottom-left corner check "Allow Approximate IK Solutions." Then click on the "Planning" tab in the MotionPlanning panel of RVIZ. Roslaunch moveo_moveit_config demo.launch
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