Description:

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.

Usage:

Building:

The AMBF Controller module currently supports only Linux and is built automatically with the AMBF framework. See instructions here.

Setting up for Raven2 Demo:

Currently, a Raven2 test module is developed in the AMBF Controller. To launch it correctly, we are going to use the custom launch_file in the raven2 folder

Running the AMBF Controller:

Having succesfully completed the steps to build, one can run the AMBF Simulator using the following command:

cd ~/ambf/bin/<os>
./ambf_simulator --launch_file ../../ambf_controller/raven2/launch.yaml -l0

Then on a second terminal, run the AMBF Controller using the following command:

cd ~/ambf/bin/<os>
./raven_controller

Optionally, there is a convenient bash script to automate the two steps above, the script can be execute as follows:

./raven_control.sh