Re: [Machinekit] Machinekit + Ros for Scorbot Er-3

2020-05-04 Thread John Morris 

Hi Tom,

You've had some good advice on the low-level HAL integration already.

Once you have all your joints and I/O connected up to HAL and you're 
ready to connect the robot up to MoveIt! and the rest of ROS, check out 
the hal_ros_control software [1] that @luminize, @machinekoder and I 
have written.  It will hook into your `moveit_setup_assistant` 
configuration with little fuss, and you'll be moving your robot through 
RViz in no time.


Good luck!

[1]: https://github.com/zultron/hal_ros_control/

John


On 5/4/20 2:18 AM, Tom M wrote:

Hi Guys,

Members of our hackerspace Workshop 88  have 
acquired 3 Scorbot Er-3 with controllers.    We've tested them out and 
the bot's who we've named Huey, Dewey and Louie all seem to be working well.


We'd like to use Ros on those bots, but the issue is how to get there.

I was reading Alex Rössler post about machinekit and Ros at 
https://machinekoder.com/machinekit-ros-open-source-robots/ and it seems 
like this might be an approach worth trying.


Seb Kuzminsky used linuxcnc on a scorbot Er-3 with the existing control
https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/user_comps/scorbot-er-3.py 




https://github.com/LinuxCNC/linuxcnc/tree/master/configs/by_machine/scorbot-er-3 


I've been corresponding with him on this and he said that this approach 
resulted in jerky motion since linuxcnc was communicating of a 9600 baud 
serial line.
He wound up replacing the control and creating a new controller with  
Mesa 7i43 (EPP Hostmot2 card), a Mesa 7i54 (Six channel 3A 40V Servo 
interface),


We've been toying with a couple approaches:
One approach would be to replace the controller and build a servo 
interphase using arduino nano's and a L298 motor drivers: 
https://www.youtube.com/watch?v=vHufLMh4xEI

and either use a pc or bbb to handle the motion planning.

We've been studying the Scorbot controller and it is well made and fully 
socketed.   We were thinking that we could lobotimizing  the control by 
yanking the 8031 control.   15 pins basically access everything on the 
board.
  It would be sort of cool, if we could create a cape and socket adapter 
and just plug in a bbb to the control and get it to run.
We're still in the process of figuring out the motor drivers and the 
encoders.   Have people done this sort of thing is a dumb idea?  Is 
machinekit via a BBB able to handle this type of multiplexing out of the 
box or with minor modification or would this be a major modification and 
a cludge not worth doing?  If there is a project that's done this 
already, could someone point me to a project that I could template from?


Any thoughts on this would be appreciated,
Thanks,
Tom

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[Machinekit] Re: BeagleBone local setup - Black screen with cursor after graphical login

2020-05-04 Thread Jeff Pollard 
Hi,

  Some versions of MachineKit do not come with the desktop environment 
installed.  I'm not sure if that is the problem you are encountering, but I 
had a similar problem before.  I installed lxde as a desktop (remotely) 
then rebooted, and I got a desktop display after logging in.  

Jeff


On Sunday, May 3, 2020 at 5:07:38 AM UTC-7, Pierre Ingels wrote:
>
> Hello all,
>
> I am attempting to set up a controller for my CNC lathe using the 
> BeagleBone Black and Machinekit. I have set it up pretty well using remote 
> terminal and I am now completing the system with a touchscreen (an Elecrow 
> RR101 10.1 Inch 1280x800).
>
> It seems to work just fine and displaying the login graphical interface at 
> 1280x800, but as soon as I login the mouse cursor remains but the screen is 
> all dark. I have poked around with Xrandr thinking that it is the 
> resolution but I get this message:
> xrandr: Failed to get size of gamma for output default
> Screen 0: minimum 1280 x 800, current 1280 x 800, maximum 1280 x 800
> default connected 1280x800+0+0 0mm x 0mm
>1280x800   0.00*
>
>
> I assume that I have to define the screen - any pointers how to do this 
> and find the relevant parameters? Or obviously if I need to look in a very 
> different direction :)
>
> Thank you!
> Pierre
>

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