rangerSport Running Notes

Contents

 

Starting the NDDS daemon

A NDDS daemon must exist on each computer using any of the rangerSport applications. Run from the ranger/bin/ folder:

>startNdds

If a daemon is not already running a message will follow:
> [NDDS version 1.9a] Starting NDDS daemon "reqForwDmn#1486" domain # 7400

If a daemon is running the following message will occur

> [NDDS: reqForwDwm:] not started because domain 7400 was busy

Either message is fine, since it means that a daemon currently exists.

Starting the arm simulations

First run the simulator for the desired arm. For instance, to start the 7DOF left dexterous simulator:

rangerSport/sims/dxl7>Dxlsim

Then run one of the two controllers: Dxlrr to use input devices to control the arm in Cartesian space or Dxljj to control each joint directly.

rangerSport/sims/dxl7>Dxlrr

Both of the application MUST run on the same computer. They use shared memory to communicate between the two. However, pairs of simulation can be run on different machines. Dxlsim and Dxlrr running on machine A use NDDS communication to talk with the control station on machine B.

Starting the control station and graphical simulation

All the control station executables within the cs/ directory are connected together. The control station also keeps a preference file that allows the system to startup with all the windows in the same location as when the application was last quit. Therefore, to run the control station or graphical simulation run any of the executables.

>BCS

This will automatically load the control station and graphical simulation windows.

Starting the input device reader

The io_reader executable allows for several approved input devices to be used with the control station and graphical simulation. Most likely, the GUI hand control simulator will be used.

> io_reader hcasim ndds 0

The above command line will start one of the hand controller simulators. Also "hcbsim" could be run at the same time. Some with access to a Spaceball can use

>io_reader sba ndds 1

Make sure the last number is the port number the Spaceball is connected to on the back of the computer.

Go to the io_reader manual