HIRO Robotic Skin

• Current Release: 0.0.1 as of 2020/01/14
• Target Python versions: Python 2 and Python3
• Documentation: http://hiro-group.ronc.one/roboskin/

HTTPS Installation

pip install --upgrade git+https://github.com/HIRO-group/roboskin.git

SSH Installation

pip install --upgrade git+ssh://git@github.com/HIRO-group/roboskin.git

Raspi Installation

python setup.py install --raspi

Docker

We have added Docker support for this repository. It is based on the ros:melodic image, and also allows Python3 to work with ROS. In order to build:

sudo apt-get install docker
docker pull ros:melodic
docker build . -t <docker-image-name>

<docker-image-name> can be any name that you choose. To run a certain command:

docker run <docker-image-name> <command>

To run an interactive shell session:

docker run -it <docker-image-name>

Example

python examples/calibration/calibrate_imu_poses.py

Arguments

• --method: Choose a method from OM (Our Method), MM (Mittendorfer's Method), MMM (modified Mittendorfers' Method)
• --test: Use True SU DH Parameters for testing the code
• --datadir: As default, the script looks for ros_robotic_skin's data directory. If it's not installed, please pass --data=PATH_TO_DATA_DIR.
• --optimizeall: As default, the script only optimizes for SU DH parameters. Passing --optimizeall will optimize the robot's link DH parameters as well.

For Developers

New features and bug fixes are welcome. Send PRs.
This project is using GitHub flow (See here for details) for development, so do not try to push directly to master branch (It will be rejected anyway).

Contribution Steps

1. Add your feature under ./roboskin/
2. Comment classes and functions with docstring
3. Add Example
4. Write Unit Test under ./tests/
5. Run Test Locally python setup.py test
6. Run Test Remotely (Travis automatically deals this)
7. Run Pylint Locally with pylint roboskin examples tests, and correct the errors from this command.
8. Write Documentations under ./docs/. See docs/README.md.

Test [MUST]

Python Test

When adding new feature such as function/class, you always and must write test(s) unless it will be rejected.
Then run the test

python setup.py test

You can also use pycodestyle:

pycodestyle <script-name>.py

Flake8 Test

flake8 . --count --max-complexity=10 --max-line-length=140 --statistics --exclude setup.py --ignore=E121,E123,E126,E226,E24,E704,W503,W504,E999

Where should I write my features tests?

When writing tests, for example for feature_module.py, please create test module file of name test_feature_module_name.py and place exactly at the same layer of your feature module. See below.

├── roboskin
│   ├── __init__.py
│   ...
│   ├── your_awesome_module.py
...
└── tests
    ├── __init__.py
    ...
    ├── test_your_awesome_module.py
    │
    ...

Testing Hardware:

To test the hardware whether it's working or not, whether the PCB is designed perfectly or not run the below command in Raspberry Pi:

sudo watch -n 1 i2cdetect -y bus_num

Where bus_num is the I2C bus number in Raspbbery pi. The output in the terminal should look something like this: The numbers 29 and 6b which are I2C addresses (Unless you change the default I2C addresses, in that case they should appear in place of 29 and 6b) of proximity sensor and accelerometer respectively should be visible without flickering.

Documentation

Write documents of your new function/class/feature and explain what it does. Writing documents is hard, but it helps others understanding of what you implemented and how to use it.

Style

We use numpy style docstring.
When writing the docs, please follow numpy style.
See here for details.

Release

Change the release version in setup.py and in docs/conf.py