RcclWrapper

• is my personal interface library to encapsulate some of the RCCL API in Java.
• this connects to the robot either via FIFOs (named-pipes) on the local PC or remote via TCP.
• the server-processes are currently "hardcoded" to their environment, namely the PC with the Arcnet-card and connected to the Mitsubishi PA-10 robot controllers.
• on tams69 (room F-329, Shadow-hand), please use the server-process from /home/tams_1/hendrich/tmp/shadow-rccls/tools/pa10tcpserver.exe
• on tams61 (TASER) please use the server-process from /opt/rccl/shadow-rccl/tools/pa10tcpserver.exe
• by default the server-process includes wall- and self-collision checks. There are currently hardcoded for the setup in F-329, and should be updated for TASER
• if necessary, run pa10tcpserver.exe -disable-collision-checks
• even so, the "savepark" position on TASER triggers the joint-angle collision check; you will need to move the arm out of "savepark" before using the GUI or sending commands via rcclwrapper.
• the repository with the source-code is kept on the FBI svn,

    svn+ssh://rzrepository.informatik.uni-hamburg.de/informatik/isr/tams/repositories/handle/rcclwrapper
  
  

• to be written: document the Java-API
• on tams69, the Java control GUI can be started via

    cd /home/tams_1/hendrich/tmp/shadow-rccl
    export CLASSPATH=vecmath.jar:pa10gui.jar
    java rcclwrapper.PA10GUI2 -server tams69.informatik.uni-hamburg.de -port 7765 
  
  

• on TASER, the Java control might be started via

    cd /opt/rccl/shadow-rccl
    export CLASSPATH=vecmath.jar:pa10gui.jar
    java rcclwrapper.PA10GUI2 -server tams61.informatik.uni-hamburg.de -port 7765 -robot left
  
  
• History
  • 2011.12.16 updated (replaced stub)