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Update Running Orocos

watts
2025-06-05 16:31:39 +02:00
parent 38adfd6c7d
commit 614bf59f3c
1 changed files with 31 additions and 29 deletions
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60
Running-Orocos.md

@@ -1,29 +1,31 @@
If Orocos has been installed in a shellbox, then you can connect to it with:
```
# to connect to orocos
telnet localhost 50001
# ^x to kill and restart
# ^d to simply close the telnet connection
```
Otherwise, Orocos can be started with:
```
cd ~/work/stxm-test/PixelatorRealtime/startup/PolLux
ulimit -c unlimited
sudo ./startOrocosRT
```
Once started, you should see a bunch of output scrolling past quickly, firstly loading components, then constructing various devices, including a number of PID loops. Next will be some messages about Connected Port X to Y, then various devices being "configured" or "started". Finally, it will say that it is "Entering Task Deployer" and present a prompt:
```
Deployer [S]>
```
If you type in the command "PID0", then the Deployer will print the interface of the `PID0` object. Available commands are highlighted in red. For example, `PID0.kI` will print the current value of the 'kI' feedback parameter. The value can be changed with a command such as:
```
PID0.kI=0.005
```
This value is only temporary and might not be saved when the program exits. It is recommended to then use the `PID0.saveParam` command to write all parameter values for the PID to file.
If Orocos has been installed in a shellbox, then you can connect to it with:
```
# to connect to orocos
telnet localhost 50001
# ^x to kill and restart
# ^d to simply close the telnet connection
```
Otherwise, Orocos can be started with:
```
cd ~/work/stxm-test/PixelatorRealtime/startup/PolLux
ulimit -c unlimited
sudo ./startOrocosRT
```
Once started, you should see a bunch of output scrolling past quickly, firstly loading components, then constructing various devices, including a number of PID loops. Next will be some messages about Connected Port X to Y, then various devices being "configured" or "started". Finally, it will say that it is "Entering Task Deployer" and present a prompt:
```
Deployer [S]>
```
If you type in the command "PID0", then the Deployer will print the interface of the `PID0` object. Available commands are highlighted in red. For example, `PID0.kI` will print the current value of the 'kI' feedback parameter. The value can be changed with a command such as:
```
PID0.kI=0.005
```
This value is only temporary and might not be saved when the program exits. It is recommended to then use the `PID0.saveParam` command to write all parameter values for the PID to file.
The typical configuration will have `PID0` for the X-axis, `PID1` for the Y-axis and `PID2` for the Z-axis. Each of these have a `kP`, `kI` and `kD` parameter that can be queried and changed.