- Ubuntu 20.04
- docker, docker compose
[NOTE] This repository DOES NOT support NVIDIA graphic driver.
The BSL-Plotter parts are in the bsl-plotter/stl directory. Please refer to URDF model and above image for assembly. And, use 6mm BB-bullets-ball to assemble the thrust bearings.
(3D model for assembly will be uploaded soon!)
It is recommended to use a 3D printer to create the parts. The recommended printing conditions are as follows.
- Nozzle: 0.4mm
- Filament: ABS, PLA, PETG
- Support: enable
- Wall: 0.6~1.0mm
BOM
| Item | Model | Quat. | Link |
|---|---|---|---|
| Servo Motor | STS3215, Feetech | 3 pcs. | akitsuki |
| Servo IF Board | FE-URT-1, Feetech | 1 pc | akitsuki |
| Filament | PolyTerra PLA, Polymaker | 1 roll | Amazon |
| Magnet | コクヨ マグネット 強力マグネットプレート 片面・粘着剤付き 6枚 耐荷重500g マク-S381 | 1 pack | Amazon |
| White board | トレー付大きなホワイトボード ４５×６０ｃｍ | 1 pc | DAISO |
| Pen | ホワイトボードマーカー（消し付、細芯、黒・赤・青、３本） | 1 pack | DAISO |
| BB-Ball (for thrust bearing unit) | BB弾 | 1 pack | DAISO |
| Wire | 3 core cable | about 1 m | |
| Bolt | M2 tapping | included STS3215 | |
| M3-5mm | included STS3215 | ||
| M3-10mm | 4 pcs. | ||
| M3-15mm | 2 pcs. | ||
| M3-25mm | 4 pcs. | ||
| M3-30mm | 2 pcs. | ||
| M3-35mm | 4 pcs. | ||
| M3-40mm | 4 pcs. | ||
| Nuts | M3 Hex | 20 pcs. |
Servo ID Setting
- Root Joint: 1
- Middle Joint: 2
- Hand Joint: 3
Cable Extension Extend the cable included with STS3215 to double the length. You can use a connector or solder it.
-
Clone this repository
git clone --recursive https://github.com/kim-xps12/bsl-plotter.git -
Launch docker container
cd bsl-plotter/docker_ros docker compose up -d -
Execute a command in a running container
docker compose exec mynoetic /bin/bash -
Check GUI
xeyes -
Check OpenGL
glxgears -
Enjoy your robotics!
You need to operate inside a docker container (mynoetic). It is required to be able to use multiple terminals using tmux or terminator. I recommend reading "How to use Terminator" in the Reference section.
-
Go workspace
cd catkin_ws -
Build workspace and load settings
catkin build source devel/setup.bash -
Launch rviz
roslaunch bsl_plotter_description display.launch -
Add new pane, and Launch IK solver
roslaunch plotter_controller test_swing.launch -
Add new pane, Run servo driver
rosrun plotter_controller feetech_driver.py