Ctrl-P: ROS Driver

A module to do pressure control in ROS with a Ctrl-P pressure control system.

Versions

You can always keep up to date by using the version in the master branch. For previous stable versions, checkout the releases.

Dependencies

Hardware

• A pressure control system running my Ctrl-P firmware
• A desktop computer running Linux (currently tested only in Ubuntu 18.04)

Software

• ROS Melodic
• The rqt_multiplot package for nice plot layouts and custom axes
• Cython HID Library from Trezor:
• The Python Control Interface package for this project
• Various python libraries:
  • All python dependencies are managed in the reqirements file. pip install -r requirements.txt

Installation

1. Clone the Python Control Interface package to the src folder of your catkin workspace.
2. Clone this package to the src folder of your catkin workspace.
3. Install cython-hid dependencies (as specified in the Cython HID Library)

   sudo apt-get install python-dev libusb-1.0-0-dev libudev-dev
   sudo pip install --upgrade setuptools

4. In the root folder of this package, run pip install -r requirements.txt to install python dependencies.
5. In the root folder of your catkin workspace, run catkin_make to enable the custom python modules in this package to work.

Usage

This driver is split into two ROS packages:

• pressure_trajectory_ros is where trajectories are set up, built, and stored for execution
• pressure_control_ros is the main driver that actually interfaces with the pressure control hardware

See the Documentation

About Ctrl-P

The Ctrl-P project is a full-stack pneumatic control system featuring smooth control of pressure at a high bandwidth.

Ctrl-P has four parts:

• Arduino-Based Firmware: Contains the low-level pressure control
• Python Hardware Interface: The low-level device drivers and command handling via serial comms
• Python Control Interface: High-level handling of pressure trajectories in raw python
• ROS Driver: High-level handling of pressure trajectories in ROS

Related Packages:

• Pressure Controller Skills: Build complex parametric skills using straightforward definition files.
• Visual Servoing: Example of setting up a realtime feedback controller.