Differences

This shows you the differences between two versions of the page.

--- podo_beg_tut [2016/07/26 04:49] – keitaronishimura
+++ podo_beg_tut [2018/02/13 21:13] (current) – keitaronishimura
@@ Line 1: / Line 1: @@
-====Beginners Guide to PODO====
+====Beginners Guide to Installing Software for HUBO====
-**Author:** Keitaro Nishimura email: <katnimura@gmail.com>
+**Author:** [[unlv_nishimura|Keitaro Nishimura]] email: <katnimura@gmail.com>
 \\
-**Date Last Edited:**07/25/16
+**Date Last Edited:**02/12/18
+**Keywords:**PODO3, Xenomai, QT, HUBO
 \\
 ===How to use this tutorial===
 \\
-This tutorial is for students interested in learning about how to program Hubo robots. As both DRC-HUBO and HUBO2 both use similar software. These tutorials are written with the expectation that the student has knowledge in programming and components such as motors and computers.
+These tutorials are for students interested in learning about how to program and use the Hubo robots. Both DRC-HUBO and HUBO2 both use similar software. These tutorials are written with the expectation that the student has some knowledge in programming and components such as motors and computers. These two tutorials are for two different applications of PODO. One is for a realtime application for the physical HUBO while the other is to setup simulation software:
-\\
-This tutorial is seperated into these parts:
-    *[[podo_beg_tut#What is PODO?|What is PODO?]]
-    *[[podo_beg_tut#What is and How to use AL?|What is and How to use AL?]]
+   *[[Installing Xenomai3, PODO3, and QT|Installing Xenomai, PODO, and QT]]
-===What is PODO?===
 \\
-PODO is the software architecture used to communicate with the HUBO robots. It was made in house by students at the HUBO KAIST lab in South Korea. There are 4 main components to PODO, the GUI (Graphical User Interface), the shared memory, the Daemon, and the AL.
+Follow this tutorial for how to install and set up a real time computer for HUBO.
-\\
+   *[[Installing Gazebo with DRC-HUBO model]]
-==GUI==
-\\
-The GUI is where the user interacts with the various codes written for the robot. This is also where you will be able to see feedback from motor and FT sensor encoders.
-\\
-==Shared Memory==
-\\
-This is similar to RAM in a computer. This is where different programs can store data until it is needed by another program. The various programs are sharing memory so that they can all access the same data.
-\\
-==Daemon==
-\\
-This converts the C++ program into an output that the motor boards can understand. Please do not try to mess with this part of PODO as there is little to no documentation on it.
-\\
-==AL==
-\\
-These are the different user made programs. PODO means bushel of grapes in korean, while al is a single grape. So within the PODO there are many al.
 \\
+Follow this tutorial for how to install simulators for HUBO.
-===How Do They Interact?===
-\\
-The shared memory is what connects the other 3 components. Once the use interacts with the GUI and sends some data into the shared memory one of two things can happen. Depending on the code the data can go directly to Daemon and to the boards, or it can be taken by an Al. If an Al takes the data it is processed through the Al code and then an output is put back into the shared memory. Which then finally taken by the Daemon to the boards. It is also possible to call for data from Daemon through shared memory. This is how you are able to get data on the current situation of various motors and sensors. Thus data is able to move freely back and forth between all of the components with shared memory at the center. It is not possible to go directly from the GUI to Daemon or Al, you will always have to go through shared memory.
-\\
-\\
-====What is and how to use Al====
-\\
-As explained in the earlier tutorial an Al is some code written by the user. This is where the user is able to create code specific to their needs and conditions. Thus it is important they the user understands how to use and create an Al.
-\\
-For this tutorial the reader will need to have an Ubuntu running computer, with QT installed on it.
-If you do not have Ubuntu please follow these tutorials on how to get it.
-  *[[http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-windows | How to create a bootable USB on windows]]
-  *[[http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-mac-osx| How to create a bootable USB on OSX]]
-  *[[http://www.ubuntu.com/download/desktop/create-a-usb-stick-on-ubuntu | How to install ubuntu from USB]]
-For QT please download the QT Creator for Ubuntu found in this link. https://www.qt.io/download-open-source/
-\\
-Please follow the link to the download of podo_nrl which holds all of the files we will be using for the rest of the tutorial. https://www.dropbox.com/s/s2rm81u2se0b4vd/podo_nrl.zip?dl=0