K-Bot KOS Quick Start
Servers
Sim
pip install kos-sim # To install the simulation server
kos-sim kbot-v1 --no-gravity --no-render
This will create a gRPC server which listens for KOS commands and replicates them on your robot.
K-Bot
Set up CAN lines to communicate with actuators.
#!/bin/bash
for i in {0..4}
do echo "Setting up can$i..."
sudo ip link set can$i down
sudo ip link set can$i type can bitrate 1000000
sudo ip link set can$i txqueuelen 1000
sudo ip link set can$i up
done
To run KOS on the K-Bot, use the commands:
# Use this if you want the bleeding edge actuator package.
mkdir local_crates
cd local_crates
git clone -b parse-faults https://github.com/kscalelabs/actuator.git
# Runs KOS
cargo run --release
You can read telemetry from Mosquitto:
mosquitto_sub -t '#' > today_date.txt
Client
We have a set of unit tests which you can run on the K-Bot here .
Updated 6 days ago