cdpr-simulation

Cable-driven parallel robot simulation

Invocation

Gazebo plugin:

source /opt/ros/melodic/setup.bash
source devel/setup.bash
cd src/cdpr_gazebo
roslaunch launch/cdpr_gazebo.launch

Simple sine velocity command publisher

rosrun cdpr_gazebo sinevelocitytest

The Gazebo model and its generation, and partially the Gazebo plugin is based on this work: Franklin Okoli, Yuchuan Lang, Olivier Kermorgant, Stéphane Caro, "Cable-Driven Parallel Robot simulation using Gazebo and ROS", The 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Jun 2018, Rennes, France

Compile Tensorflow 1.13.1 using Cuda 10.0

sudo dpkg -i cuda-repo-ubuntu1804_10.0.130-1_amd64.deb sudo dpkg -i ~/Letöltések/cuda-repo-ubuntu1804_10.0.130-1_amd64.deb sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub sudo apt-get update sudo apt-get install cuda-toolkit-10-0 sudo ./configure sudo bazel build -c opt --config=cuda --copt="-mtune=native" --copt="-O3" tensorflow:libtensorflow_cc.so tensorflow:libtensorflow.so --genrule_strategy=standalone --spawn_strategy=standalone