Started:SettingControllers

From OpenRAVE

In order for openrave to control certain robot hardware, a Controller has to be created that will interface with the hardware-specific libraries. This controller interface then has to be created through the Environment and set onto an existing robot.

Assuming that there exists a plugin with a controller interface named MyController, here are some ways to set an openrave robot to use it:

• XML - add a <controller> tag in the openrave robot XML file like this:
  

  <robot file="robots/schunk-lwa3.robot.xml">
  

  <controller type="MyController" args="controller arguments here"></controller>

  </robot>

  • It is also possible to set a controller outside of the robot definition by specifying the robot's name. For example:

  <environment>
  

  <robot name="schunk-lwa3" file="robots/schunk-lwa3.robot.xml">

  </robot>

  <controller type="MyController" robot="schunk-lwa3" args="controller arguments here"></controller>

  </environment>

• C++

RobotBasePtr probot = GetEnv()->GetRobot("schunk-lwa3");
ControllerBasePtr pcontroller = GetEnv()->CreateController("MyController");
probot->SetController(pcontroller,"trajectoryservice /controller_session joints j0 j1 j2 j3 j4 j5 j6");

• Python

robot = env.GetRobot('schunk-lwa3')
controller = env.CreateController('MyController')
robot.SetController(controller,'controller arguments here')

• Octave/MATLAB

robotid = orEnvGetBody('schunk-lwa3');
orRobotControllerSet(robotid,'MyController','controller arguments here')