Corin - Main Branch

Branch for active development of Corin control code. Other branches of this repo are either legacy branches from previous work which are no longer being actively maintained, or they are for demonstration purposes. The primary demonstration branch is dockerised_demo.

This branch is in early development stages, and thus much of the code will be preliminary. In time, much of the code will be replaced with new drivers based on the Smart Arm Stack.

Running test.py

In order to run any code from this repository the correct conda environment is necessary. This can be created using the environment.yml files distributed with this code.

The corin manager node must be launched first in order to establish communications with the hardware. This is done using the following commands:

sudo bash
conda deactivate
source ~/catkin_ws/devel/setup.bash
roslaunch corin_manager corin_manager.launch

Once the manager node is setup, in a new terminal execute:

source ~/catkin_ws/devel/setup.bash
conda activate Corin2024
python ~/catkin_ws/src/corin/test.py

Using ROS and Conda

The conda environment Corin2024 has been augmented using Rick Staa's Ros Conda Wrapper to allow it to communicate with the ROS install already present on the Corin workstation. This can sometimes be a tense relationship, and the two don't always play nice together. This tension can sometimes manifest as the test script failing to import rospy, or to import bound C++ objects. When this happens, deactivate all conda environments in that terminal (including base) and then re-run:

source ~/catkin_ws/devel/setup.bash
conda activate Corin2024

and then run the test script, which should execute without issue.