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Reading Sensor Values from DRC-Hubo in Simulators
Author:Keitaro Nishimura E-mail:katnimura@gmail.com
Date Last Edited:08/08/16
Keywords:PODO, ROS, Gazebo, R-viz, Sensor data
How to use this tutorial
In this tutorial I will explain to the reader how to sensor values are read from Simulators. This tutorial should only take the reader less than 15min if they already have the needed software set up. If the reader does not have PODO, Xenomai, ROS, etc. installed please refer to the previous tutorials first. I will also recommend that the reader have either a large monitor or dual monitor setup. As some of the windows will be horizontally long.
Reading feedback from the DRC-Hubo model in simulators
1. Open Daemon, start the simulators (rviz and gazebo), then open qt to run the PODOGUI. Once open open the walk ready AL in the module tab.
2. Now open the Joints and Sensors tabs on the bottom left of the GUI. These are the tabs where you will be able to see the reading from the the various joint encoders and ft sensors on DRC-Hubo.
3. Once open click on the enable buttons on both tabs. This will make sure that the joint encoders and ft sensors are going to show readings in the tabs.
4.If you run the walk ready pose these new tabs will show you how many degrees each joint is moving and how much force and torque is exerted. This video shows an example of what you should see.