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Pressure Skills


Build complex parametric skills in pressure control space using straightforward definition files.

Motivation

In practical use, this pressure control system is extremely versatile, however the ROS driver still acts a relatively low level: sending pressure signals over time. Setting up pre-programmed trajectories (or even realtime feedback control) works well, but requires a lot of copying and pasteing of the same pressure trajectories into different files. In addition, sometimes we operate using a family of trajectories with fundementally the same form, so there is a lot of room to automate this.

Introducing “Pressure Skills”! With this framework, we can define families of pressure trajectories (skills) using parameters and math, then use them like functions to obtain specific trajectories given particular values of the parameters.

Dependencies

Hardware

Software

  • The ROS Driver for this project
  • The pressure_controller_skills package
  • Various python libraries:
    • All python dependencies are managed in the reqirements file. pip install -r requirements.txt

Installation

  1. Set up and install the ROS Driver.
  2. Clone the pressure_controller_skills package to the src folder of your catkin workspace.
  3. In the root folder of your catkin workspace, run catkin_make to enable the custom python modules in this package to work.

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