Libbarrett is a real-time controls library written in C++ that runs Barrett Technology products (WAM and BarrettHand)
This version of Libbarrett works with a non-real-time kernel (a low-latency Ubuntu 22.04 kernel) and should only be used when a hard real-time guarantee is not critical for your application.
Disable unattended upgrades
apt remove unattended-upgrades
cd && git clone https://github.com/personalrobotics/libbarrett
cd ~/libbarrett/scripts && ~/libbarrett/scripts/install_dependencies.sh
sudo reboot
We recommend the following CAN hardware:
- PCAN-PCI
- PCAN-PCIe
- PCAN-USB
- PCAN-ISA
NOTE: These cards are supported by the SocketCAN driver built into Linux, however, we have found that the SocketCAN txbuffer can occasionally fail to send CAN frames without reporting an error, and this causes the WAM to E-Stop itself unexpectedly. This can happen a few seconds, a few minutes, or even several hours after starting a WAM application. Fortunately, Peak offers an alternative driver (pcan) which is still socket-based but avoids this SocketCAN bug.
You can install that PCAN driver here:
sh ~/libbarrett/scripts/install_pcan.sh
sudo tee /etc/modprobe.d/pcan.conf <<EOF
options pcan type=isa,isa io=0x300,0x320 irq=7,5
install pcan modprobe --ignore-install pcan
EOF
echo 'pcan' |sudo tee -a /etc/modules-load.d/modules.conf
Reboot to use the new CAN driver (after reboot, both "cat /proc/pcan" and "ifconfig" should list can0):
sudo reboot
You may need to run reset_can.sh before can0 appears in ifconfig.
cd ~/libbarrett
mkdir build
cd build
cmake ..
make -j$(nproc)
sudo make install
cd ~/libbarrett/examples
mkdir build
cmake ..
make -j$(nproc)
Optional: Update or install configuration files only - not necessary if you have already done a full make (above)
make install_config
Optional: Package the library as a tar-ball (not common)
make package
Upon installation of libbarrett, the configuration files of the robot are installed to the /etc/barrett directory. However, to give an additional flexibility of each user maintaining their own configurations for the same robot, by default, the configuration files are read from ~/.barrett directory if it exists. If not, then libbarrett reads the necessary configuration files from /etc/barrett/ directory. It is up to the user to maintain and populate the ~/.barrett directory.
It is possible to use CMake to generate several output formats, including Eclipse CDT4 project files. For details, see: http://www.paraview.org/Wiki/Eclipse_CDT4_Generator To generate Eclipse project files, run:
cmake . -G"Eclipse CDT4 - Unix Makefiles"
Then import the generated project into your Eclipse workspace using: File -> Import -> General -> Existing Projects into Workspace
burt-util is a BURT firmware management Utility with commands
that allow you to easily upgrade firmware, flash a bootloader,
connect to the firmware via CAN and CoAP, and much more.
Download the utils from https://git.barrett.com/burt/software/burt-util/ and install them.
curl 'https://git.barrett.com/burt/software/burt-util/-/jobs/40381/artifacts/download' --output burt-util-dev-3.7.3-deb.zip
unzip burt-util-dev-3.7.3-deb.zip
sudo dpkg -i burt-util_3.7.3_amd64.deb burt-util offers a variety of functions. E.g. enumerating the devices on the
bus. For that to work, you need to specify the ID of the CAN bus in
.config/barrett/burt_util.toml. For example burt-util enumerate, should
output
Searching for nodes
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Found: [1, 2, 3, 4, 5, 6, 7]