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Exoskeleton - Controller (Raspberry Pi 4) Code

Summary

The controller directory is a catkin package, meant to be uploaded on the controller for the Exoskeleton.

Development Instructions

Github setup

Now in Github you must either use a personal access token (PAT) or a SSH key. The SSH key takes a bit more to set up, but it's really convient once it's working. Follow these three steps to set it up:

  1. Generate an SSH key
  2. Add it to your github account
  3. Test the connection

To setup an SSH key, follow [these instructions](

Setup

  1. Create a catkin workspace if you don't have one already
  2. Navigate to the catkin_ws/src/ directory: cd catkin_ws/src/
  3. Clone this repository
    • HTTPS: git clone https://github.com/ualbertabiomed/exo-controller.git
    • SSH: git clone [email protected]:ualbertabiomed/exo-controller.git
  4. Navigate back to your catkin_ws root: cd ..
  5. Build the package: catkin_make

Creating your branch

  1. Navigate to the repo directory: cd catkin_ws/src/exo-controller
  2. Create a new branch: git branchyour_name
  3. Checkout (switch to) that branch: git checkoutyour_name

Making changes

Option 1 - GUI (Easier?)

Use either a GUI such as the VSCode source control tab or Github desktop

Option 2 - Command Line

Use git add <files>, git commit, and git push

  • For more info on these commands type man <command name>, e.g. man git add or search online

Pull requests

After pushing some changes, open a pull request to merge into main and ask someone else to review it. See all pull requests here.

Upload Instructions

Instructions for setting up a new Pi

Method 1: Docker (WIP)

  1. Install Ubuntu 20.X
  2. Create uab user with password “uabiomed”
  3. Name device “uab-piX” where X is whatever number Pi this is
  4. Do the following in order:
    1. “sudo apt update”
    2. “sudo apt upgrade”
    3. “sudo apt install curl git make” # Get packages to instal docker and our repo
    4. “curl -sSL https://get.docker.com | sh” # Install docker from website, will take a bit
    5. “sudo usermod -aG docker uab” # Adds uab to docker group
    6. Logout and log back in
    7. “docker run hello-world” # Verify everything worked
  5. Setup a github SSH key by following the steps listed here, specifically:
    1. Generating a new SSH key and adding it to the agent
    2. Adding a new SSH key to your github account
    3. Testing your SSH connection

Method 2: Native

  1. Install Ubuntu 20.X
  2. Create uab user with password "uabiomed"
  3. Name device "uab-piX" where X is whatever number Pi this is
  4. Setup github SSH key (See step 5 above)
  5. Pull exoskeleton repo
  6. Install ROS as detailed here
  7. Install motor dependencies, what these are is tbd...
  8. Run launch file

Style

Try to follow this style guide

Valid Names

Package Resource Names have strict naming rules as they are often used in auto-generated code. For this reason, a ROS package cannot have special characters other than an underscore, and they must start with an alphabetical character. A valid name has the following characteristics:

  1. First character is an alpha character ([a-z|A-Z])
  2. Subsequent characters can be alphanumeric ([0-9|a-z|A-Z]), underscores (_) or a forward slash (/)
  3. There is at most one forward slash ('/').