The AMBF Controller is a C++ client that controls the simulated objects in the AMBF Simulator. It is an alternative to the python client described here. The Raven2 control is imeplemented and well tested in the AMBF Controller. Robot kinematics is implemented in the module so both cartesian and joint space commands for Raven2 is supported.
The AMBF Controller module supports Linux OS only. If a Linux machine is used, it is automatically built when compiling the AMBF framework. See instructions here.
Currently, a Raven2 test module is developed in the AMBF Controller. To launch it correctly, change the settings in launch.yaml by: (1) Uncomment (line 3): world config: ./world/raven_world.yaml (2) Comment out (line 2): world config: ./world/world.yaml (3) Make sure Raven2 is enabled: ./multi-bodies/robots/blender-raven2.yaml
Having succesfully completed the steps to build and run the Simulator, one can run the AMBF Controller using the following command on a new terminal:
cd ~/ambf/bin/<os>
./ambf_controller
Or there is an automatic compile and run script using the following command on a terminal:
./CompileAndRunScript.sh