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2 | 2 |
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3 | 3 | ## Which Operating System should I use? |
4 | 4 |
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5 | | -- For desktops and laptops, we recommend a GNU/Linux ([what is Linux? (Spanish)](https://asrob-uc3m.gitbooks.io/tutoriales/content/software/linux/introduction.html#%C2%BFqu%C3%A9-es-linux)) distribution ([what is a distribution? (Spanish)](https://asrob-uc3m.gitbooks.io/tutoriales/content/software/linux/introduction.html#%C2%BFqu%C3%A9-es-una-distribuci%C3%B3n-de-linux)) on a native partition ([what options do I have to install a distribution? (Spanish)](https://asrob-uc3m.gitbooks.io/tutoriales/content/software/linux/introduction.html#%C2%BFqu%C3%A9-opciones-tengo-para-instalar-una-distribuci%C3%B3n) and [how to install a native partition (Spanish)](https://asrob-uc3m.gitbooks.io/tutoriales/content/software/linux/introduction.html#%C2%BFc%C3%B3mo-instalo-una-distribuci%C3%B3n-en-una-partici%C3%B3n-nativa)). The specific GNU/Linux distribution we recommend is [Ubuntu](https://ubuntu.com/#download) (`Ubuntu Desktop`). You are free to choose between version `16.04 LTS ` and `18.04 LTS`. Either one is a good option, although we have slight more support for `16.04`. |
6 | | -- For robot on-board CPUs, you can read through a long conversation at: [questions-and-answers#20](https://github.com/roboticslab-uc3m/questions-and-answers/issues/20). |
| 5 | +- For desktops and laptops, we recommend a GNU/Linux ([what is Linux? (Spanish)](https://asrob.uc3m.es/tutoriales/software/linux/introduction.html#%C2%BFqu%C3%A9-es-linux)) distribution ([what is a distribution? (Spanish)](https://asrob.uc3m.es/tutoriales/software/linux/introduction.html#%C2%BFqu%C3%A9-es-una-distribuci%C3%B3n-de-linux)) on a native partition ([what options do I have to install a distribution? (Spanish)](https://asrob.uc3m.es/tutoriales/software/linux/introduction.html#%C2%BFqu%C3%A9-opciones-tengo-para-instalar-una-distribuci%C3%B3n) and [how to install a native partition (Spanish)](https://asrob.uc3m.es/tutoriales/software/linux/introduction.html#%C2%BFc%C3%B3mo-instalo-una-distribuci%C3%B3n-en-una-partici%C3%B3n-nativa)). The specific GNU/Linux distribution we recommend is [Ubuntu](https://ubuntu.com/#download) (`Ubuntu Desktop`). You are free to choose between version `16.04 LTS ` and `18.04 LTS`. Either one is a good option, although we have slight more support for `16.04`. |
| 6 | +- For robot on-board CPUs, you can read through a long conversation at: [questions-and-answers#20](https://github.com/roboticslab-uc3m/questions-and-answers/issues/20). |
7 | 7 |
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8 | 8 | ## I was told to install something. How can I do that? |
9 | 9 |
|
10 | | -- Please make sure you carefully read and understood the dedicated section at: [how do I install programs on Linux? (Spanish)](https://asrob-uc3m.gitbooks.io/tutoriales/content/software/linux/introduction.html#¿cómo-instalo-programas-en-linux) |
| 10 | +- Please make sure you carefully read and understood the dedicated section at: [how do I install programs on Linux? (Spanish)](https://asrob.uc3m.es/tutoriales/software/linux/introduction.html#¿cómo-instalo-programas-en-linux) |
11 | 11 | - Each of our repositories usually contains instructions for installing, e.g. the initial `README.md` of <https://github.com/roboticslab-uc3m/vision> links to its [doc/vision-install.md](https://github.com/roboticslab-uc3m/vision/blob/master/doc/vision-install.md) documentation file. |
12 | | - - Note 1: Don't know what a repository is? Please read: [Control de versiones (Spanish)](https://asrob-uc3m.gitbooks.io/tutoriales/content/software/version-control/index.html) |
| 12 | + - Note 1: Don't know what a repository is? Please read: [Control de versiones (Spanish)](https://asrob.uc3m.es/tutoriales/software/version-control/index.html) |
13 | 13 | - Note 2: This manual contains an index of our repositories: [HERE](appendix/repository-index.md) |
14 | | -- For instructions on installing 3rd party software, please see a special repository we maintain: <http://robots.uc3m.es/gitbook-installation-guides> |
| 14 | +- For instructions on installing 3rd party software, please see a special repository we maintain: <https://robots.uc3m.es/installation-guides/> |
15 | 15 |
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16 | 16 | ## I see a lot of commands for installation but do not understand anything. What do they mean? |
17 | 17 |
|
18 | | -- Please read: [Linux - Bash (Spanish)](https://asrob-uc3m.gitbooks.io/tutoriales/content/software/linux/bash.html) |
| 18 | +- Please read: [Linux - Bash (Spanish)](https://asrob.uc3m.es/tutoriales/software/linux/bash.html) |
19 | 19 |
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20 | 20 | ## I've heard lots of stuff about Git and GitHub. What do they mean? |
21 | 21 |
|
22 | 22 | - Please read: |
23 | 23 | - [Git y GitHub (Spanish)](https://david-estevez.gitbooks.io/the-git-the-bad-and-the-ugly/content/es/control-de-versiones.html) |
24 | | - - [Control de versiones - Git (Spanish)](https://asrob-uc3m.gitbooks.io/tutoriales/content/software/version-control/git.html) |
| 24 | + - [Control de versiones - Git (Spanish)](https://asrob.uc3m.es/tutoriales/software/version-control/git.html) |
25 | 25 |
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26 | 26 | ## How should I program stuff? |
27 | 27 |
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33 | 33 |
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34 | 34 | ## How can I record data for Programming by Demonstration (PbD) a.k.a. Learning from Demonstration (LfD)? |
35 | 35 |
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36 | | -First, if moving the robot by hand, you'll want some gravity compensation to help out. That's `[gcmp]` off `BasicCartesianControl`. Refer to the [BasicCartesianControl documentation](http://robots.uc3m.es/dox-kinematics-dynamics/group__BasicCartesianControl.html) for reference. |
| 36 | +First, if moving the robot by hand, you'll want some gravity compensation to help out. That's `[gcmp]` off `BasicCartesianControl`. Refer to the [BasicCartesianControl documentation](https://robots.uc3m.es/kinematics-dynamics/group__BasicCartesianControl.html) for reference. |
37 | 37 |
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38 | 38 | Once you have publishing services running (robot joint/cartesian state, sensors output), there are two options for recording data: |
39 | 39 |
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40 | 40 | 1. Manually grab individual "waypoints" or sensor data and store in file(s). For instance, in the joint space, do some `yarp rpc /robotName/manipulatorName/rpc:i` to get joint positions. |
41 | 41 |
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42 | 42 | 1. To record full trajectories (data stream of a certain YARP port) at a given sample rate, use [yarpdatadumper](http://www.yarp.it/yarpdatadumper.html). To record from several YARP ports, [yarpdatadumperAppGenerator](http://www.yarp.it/yarpdatadumperAppGenerator.html) can be used to generate a [yarpmanager](http://www.yarp.it/yarpmanager.html) app of [yarpdatadumper](http://www.yarp.it/yarpdatadumper.html) components. |
43 | 43 |
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44 | | - An example of recording a left arm trayectory of TEO: |
| 44 | + An example of recording a left arm trayectory of TEO: |
45 | 45 | * Terminal 1: |
46 | 46 | ``` |
47 | 47 | launchManipulation # Part of teoBase |
48 | 48 | ``` |
49 | | - * Terminal 2: |
| 49 | + * Terminal 2: |
50 | 50 | ```bash |
51 | 51 | yarpdatadumper --name /leftArm # the data.log and data.log files will be saved in a new `leftArm` directory |
52 | 52 | ``` |
@@ -75,7 +75,7 @@ None of these options is the implemented solution. The iPos implementation is an |
75 | 75 | - If you feed it too slow, the buffer will empty before time and movement will stop. |
76 | 76 | - If you feed it too fast, the buffer will get full (you'll see a `pt buffer full!` message in our [CanBusControlboard](https://github.com/roboticslab-uc3m/yarp-devices/blob/e696c219fa9aa6203d008585123ea477d9b74454/libraries/YarpPlugins/CanBusControlboard) implementation). |
77 | 77 |
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78 | | -Hence, best to feed it at the most precise rate possible. Take into account that a [PeriodicThread](https://github.com/robotology/yarp/blob/master/example/os/ratethread.cpp) (YARP's old `RateThread`) will be more precise than adding a fixed delay at the end of your loop. |
| 78 | +Hence, best to feed it at the most precise rate possible. Take into account that a [PeriodicThread](https://github.com/robotology/yarp/blob/master/example/os/ratethread.cpp) (YARP's old `RateThread`) will be more precise than adding a fixed delay at the end of your loop. |
79 | 79 |
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80 | 80 | In the current [CanBusControlboard](https://github.com/roboticslab-uc3m/yarp-devices/blob/e696c219fa9aa6203d008585123ea477d9b74454/libraries/YarpPlugins/CanBusControlboard) implementation, this is set when we instance the class, and may be modified via [--ptModeMs](https://github.com/roboticslab-uc3m/yarp-devices/blob/e696c219fa9aa6203d008585123ea477d9b74454/libraries/YarpPlugins/CanBusControlboard/DeviceDriverImpl.cpp#L10). You'll be asking yourself if there is a minimum threshold. The answer is yes, and this minimum should be estimated by the time consumed by CAN-bus communications to feed all the individual drivers per period. |
81 | 81 |
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