Programmatic PDOs and integration of platforms (#42)

* compiler is changed for Linux pc * small fix on Readme. Executable is named EXO_APP not EXO_ROBOT * Adapted M1 platfrom from Tim, to be modified... * Compile and run the code to display joint status in real-time in command line; State transition (e.g., from idle state to demo state) is not working yet * M1 moves with position control. But the actual angle is not tranformed correctly. * M1 can track sin wave trajectory. Still need to figure out the conversion between device unit (encoder count) and joint unit (degree or radian). * Position tracking without posControlConfirmSP; CANOPEN communication crashes occasionally. * Basic velocity and torque/current control, i.e., tracking sine wave target or constant target, were tested. * Correct conversion between joint unit and device unit * before merge with ROS implementation * Segmentation fault! * M1 moves * cleaned up debug outputs * Added safety checks against NaN/Inf at Joint level * enable torque sensor on the axis * add zero calibration * for calibration, move joint to 90 degree, then put weight on the link * Addition of network communication and minimal use demo in M3DemoMachine * Updated M3 to publish endeffector states on network communication * Comments and format of FLNLHelper * demo machine cyclic move between 0 and 90 degree with position, velocity, and torque control * work on system identification and compensation strategy * Updated libFLNL and default time registered in state for network communication * FLNL connection management * Typo * Network communication documentation * Update NetworkCommunication.md * Makefle update for merging * working on demonstration functions * Minimal untested, uncalibrated M2 implementatio * Improved M2 demomachine and Arc Circle state - Not tested * Peak can dedicated initscriipt and some M2 calibration (only torque control) * model compensation and virtual spring piloting * PD torque feedback control and feedforward friction compensation * Created (empty) M2 spasticity test app * Inverted hwUpdate and update in application for delay. Switch to 1kHz. * Testing for Programmatic PDOs (#38) * test: Programmatic OD - not working * Still not working. * Not Working * Programmatic OD: TPDO backend * Programmatic OD - created CO_setRPDO, not functional * Calibration Working. Sit worked once, not completely good still. * setRPDO function working * Working Programmatic RPDO. Two Sensors good. * Programmatic TPDO! Working with sensor * Not functional. Possibly issue with timing of state machine creation. * Logging crutch sensors and calibration operational * Calibration works. Problem with first pos always 0 * Removed Segfault with deleting crutch sensors * RPDO object created and working * Added Continuous Position Control commands * Programmatic TPDOs implemented. * Tidy up and comments on Programmatic PDOs * Programmatic PDOs on Drives... partially working * Improved uploadBB.sh script using rsync (faster) * Improved uploadBB script using rsync (faster) and config files * Fix bug missing header in FLNLHelper * Programmatic PDOs - All Demo Test (#39) * test: Programmatic OD - not working * Still not working. * Not Working * Programmatic OD: TPDO backend * Programmatic OD - created CO_setRPDO, not functional * Calibration Working. Sit worked once, not completely good still. * setRPDO function working * Working Programmatic RPDO. Two Sensors good. * Programmatic TPDO! Working with sensor * Not functional. Possibly issue with timing of state machine creation. * Logging crutch sensors and calibration operational * Calibration works. Problem with first pos always 0 * Removed Segfault with deleting crutch sensors * RPDO object created and working * Added Continuous Position Control commands * Programmatic TPDOs implemented. * Tidy up and comments on Programmatic PDOs * Programmatic PDOs on Drives... partially working * Working Programmatic PDOs - Demo Machines updated * Optimised (a bit) the can PDOs setup * Update Drive.cpp Failed at merging. * Update KincoDrive.cpp Didn't update properly to new generateRPDOConfigSDO/generateTPDOConfigSDO formats * Switched to Velocity control mode 3 (was -3) * Swaped hwUpdate and update and faster control loop * Added drive reset error function and call from init() * change object dictionary for M2 sensors * Ros Node created at DemoMachine Constructor (#40) * fix variable name and tab * ROS Node is created at DemoMachine constructor * Cleanup init scripts (no candump, no increase queulength) * Remove spasticity app for merge * Tidy up for Programmatic PDO * Removed some unncessary entries in the OD * Documentation changes for programmatic PDOs * Tidy up * merging... * Fixed Eigen problem w/ state dynamic creation. M1, M2, M3 running * Added privilege management to avoid logging and running as root * Updated contributors list * Slight cleanup of M1 code * Slight cleanup of M2 code * Merged force sensor versions. X2 force sensor ids to be checked. * Improved M2 (and comments) and fix libFLNL destruction segfault * Check for state machine name in CMake * Updated ROS documentation * application.cpp cleanup * Blame vscode files from repo * Removed f64 in M_PIf64 definitions as they aren't available on Windows Compiler * Correct Simulation bug with ROS X2DemoMachine * Updated ROS documentation * Added code snippet to list can socket parameters * Added code snippet to list can socket parameters * Corrected FourierSensor sensorID/COBID * Changed FourierForceSensor Calibration to no longer need SDO Message. Small tidy up of M1. Co-authored-by: emekB <[email protected]> Co-authored-by: Yue <[email protected]> Co-authored-by: Yue <[email protected]> Co-authored-by: justinfong-unimelb <[email protected]> Co-authored-by: xinlianggunimelb <[email protected]> Co-authored-by: Emek Barış Küçüktabak <[email protected]> Co-authored-by: justinfong-unimelb <[email protected]>
UniMelbHumanRoboticsLab · Mar 4, 2021 · d79c8cf · d79c8cf
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diff --git a/.gitignore b/.gitignore
@@ -3,6 +3,7 @@
 CANopenSocket/canopend/X2_log.txt
 *.o
 .vs/
+.vscode/
 /.devcontainer/Dockerfile
 /.devcontainer/devcontainer.json
 /build/*

diff --git a/.vscode/settings.json b/.vscode/settings.json
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -11,11 +11,15 @@ project(CORC C CXX)
 ## Select the application by setting the state machine to use
 #(it should be the class name and have corresponding header naming in a corresponding folder)
 # If your application use ROS, don't forget to change the flag bellow too.
+
+set (STATE_MACHINE_NAME "ExoTestMachine")
 #set (STATE_MACHINE_NAME "M3DemoMachine")
+#set (STATE_MACHINE_NAME "M2DemoMachine")
 #set (STATE_MACHINE_NAME "M3Machining")
 #set (STATE_MACHINE_NAME "M3Chai")
-set (STATE_MACHINE_NAME "ExoTestMachine")
 #set (STATE_MACHINE_NAME "X2DemoMachine")
+#set (STATE_MACHINE_NAME "M1DemoMachine")
+#set (STATE_MACHINE_NAME "LoggingDevice")
 
 # Comment to use actual hardware, uncomment for a nor robot (virtual) app
 set(NO_ROBOT ON)
@@ -25,11 +29,9 @@ set(USE_ROS OFF)
 
 # Select desired logging level (Options: TRACE, DEBUG, INFO, WARN, ERROR, CRITICAL OFF)
 # INFO is the recommended level in normal operation
-set(CORC_LOGGING_LEVEL INFO) 
-################################################################################
-
-add_definitions(-DBASE_DIRECTORY=${CMAKE_SOURCE_DIR})
+set(CORC_LOGGING_LEVEL INFO)
 
+################################################################################
 if(USE_ROS)
 	add_definitions(-DUSEROS)
 endif()
@@ -62,13 +64,16 @@ set(CMAKE_CXX_FLAGS_DEBUG "-g")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3")
 
 ## Current state machine (APP) to be build
-add_definitions(-DSTATE_MACHINE_TYPE=${STATE_MACHINE_NAME})
-add_definitions(-DSTATE_MACHINE_INCLUDE="${STATE_MACHINE_NAME}.h")
+if(NOT STATE_MACHINE_NAME)
+	message(FATAL_ERROR "ERROR: No state machine (APP) selected: Abort.")
+else()
+	add_definitions(-DSTATE_MACHINE_TYPE=${STATE_MACHINE_NAME})
+	add_definitions(-DSTATE_MACHINE_INCLUDE="${STATE_MACHINE_NAME}.h")
+endif()
 if(NO_ROBOT)
 	add_definitions(-DNOROBOT=1)
 endif()
 
-
 ## Get all source and header files (only the target app folder is included)
 file(GLOB_RECURSE SOURCES "src/core/*.cpp" "src/core/*.c" "src/hardware/*.cpp" "src/hardware/*.c" "src/apps/${STATE_MACHINE_NAME}/*.c" "src/apps/${STATE_MACHINE_NAME}/*.cpp" "lib/FLNL/*.cpp")
 file(GLOB_RECURSE HEADERS "src/core/*.h" "src/hardware/*.h" "src/apps/${STATE_MACHINE_NAME}/*.h")
@@ -86,6 +91,12 @@ list (APPEND INCLUDE_DIRS lib/)
 add_subdirectory(lib/yaml-cpp/)
 
 
+## Hack for Yaml files path (absolute path required for ROS use, see X2Robot::initializeRobotParams)
+if(CMAKE_CROSSCOMPILING)
+	add_definitions(-DBASE_DIRECTORY=.)
+else()
+	add_definitions(-DBASE_DIRECTORY=${CMAKE_SOURCE_DIR})
+endif()
 
 ## Add ROS dependencies
 if(USE_ROS)

diff --git a/LICENSE b/LICENSE
@@ -186,7 +186,7 @@
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright [yyyy] [name of copyright owner]
+   Copyright 2020-2021 CORC contributors
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.

diff --git a/README.md b/README.md
@@ -87,13 +87,15 @@ Using an FTP Client on the Host (if you do not have one - or a preferred client,
 - **Username:** debian
 - **Password:** temppwd
 
-On the host, using the FTP client, transfer the build executable in `build/ExoTestMachine_APP`, along with the contents of the `initRobot` folder, to the Beaglebone.
+On the host, using the FTP client, transfer the build executable in `build/ExoTestMachine_APP`, along with the contents of the `script` folder, to the Beaglebone.
 
 Alternatively, you can use the [script/uploadBB.sh](script/uploadBB.sh) to automatically upload the content of the script folder and the build/\*APP to the BeagleBone through ssh. 
 
-> Note: The `initRobot` folder contains scripts for setting up the CAN interfaces that CORC uses for communication
+> Note: The `script` folder contains scripts for setting up the CAN interfaces that CORC uses for communication. In case you use a PEAK CAN USB device, make sure to either use the `initPCAN` script or to manually setup the CAN queue length to 1000 (`ifconfig can0 txqueuelen 1000`).
 
-**[DEPLOY-LOCAL]** This entire step is not required if you are running on your development machine - just note the location of your `ExoTestMachine_APP` and `initRobot` folder. 
+In addition, copy the `config` folder to the same directory as the executable - this is used to set some parameters in the X2Robot. 
+
+**[DEPLOY-LOCAL]** This entire step is not required if you are running on your development machine - just note the location of your `ExoTestMachine_APP` and `script` folder. 
 
 ## Run Virtual ExoTestMachine
 
@@ -118,12 +120,12 @@ This must be repeated for the `.sh` scripts as well.
 The CORC Application requires the a CAN device to send commands to. For this test, we create a virtual CAN device (so no hardware is required). To do this, initialise the Virtual CAN device to set up, bind to and run candump ([candump manpage](https://manpages.debian.org/testing/can-utils/candump.1.en.html)) on the VCAN interface using the `initVCAN` script. 
 
 ```bash
-$  cd initRobot
+$  cd script
 $  ./initVCAN.sh
 ```
 This initialises a virtual CAN interface, and prints the contents of the bus to the terminal window.
 
-> Note: This can be changed to use a non-virtual CAN interface, but this requires some minor changes to the code before compilation, and the use of the `X2_startCAN.sh` script instead.
+> Note: This can be changed to use a non-virtual CAN interface, but this requires some minor changes to the code before compilation, and the use of the `initCAN0.sh` script (or `initPCAN.sh` if you use a PEAK CAN USB device) instead.
 
 SSH into the BeagleBone in a second terminal window (**[DEPLOY-LOCAL]** or launch a second terminal) to launch the application:
 
@@ -200,6 +202,9 @@ The following individuals have made contributions to CORC:
 - Vincent Crocher
 - Emek Barış Küçüktabak 
 - Justin Fong
+- Yue Wen
+- Tim Haswell
+- Xinliang Guo
 
 Please contact fong.j[at]unimelb.edu.au with questions or suggestions for continuing development, or if you wish to be more involved in the planning/organisation of CORC.
 

diff --git a/doc/ObjectDictionary.md b/doc/ObjectDictionary.md
@@ -1,4 +1,6 @@
-# Modifying the Object Dictionary for PDO Messages
+# Modifying the Object Dictionary for PDO Messages (DEPRECIATED)
+
+> Note: This has changed. The PDOs are now programmatic. To create a PDO, one needs to create an RPDO or TPDO object with the appropriate parameters. The PDO is linked directly to a variable in the constructor of the object. 
 
 The CORC implementation uses the CANOpenNode Stack, and their implementation of the object dictionary. 
 

diff --git a/doc/Simulation.md b/doc/Simulation.md
@@ -53,9 +53,9 @@ $ catkin build
 Clone CORC and the required packages into your workspace:
 ```bash
 $ cd ~/catkin_ws/src
-$ git clone github.com/UniMelbHumanRoboticsLab/CANOpenRobotController.git
-$ git clone github.com/emekBaris/x2_description.git
-$ git clone github.com/emekBaris/cob_gazebo_plugins.git
+$ git clone https://github.com/UniMelbHumanRoboticsLab/CANOpenRobotController.git
+$ git clone https://github.com/emekBaris/x2_description.git
+$ git clone https://github.com/emekBaris/cob_gazebo_plugins.git
 ```
 
 Make sure `USE_ROS` flag is set to `ON` in CMakeLists.txt:
@@ -70,6 +70,11 @@ If you would like to do a simulation:
 Set your state machine that uses ROS (e.g., X2DemoMachine):
 ```set (STATE_MACHINE_NAME "X2DemoMachine")```
 
+Select your robot model in the launch file `launch\x2_sim.launch` to match a model defined in `config\x2_params.xml`, for example:
+```<arg name="robot_name" default="X2_SRA_A"/>```
+
+
+
 Build CORC:
 ```bash
 $ cd ~/catkin_ws

diff --git a/launch/x2_sim.launch b/launch/x2_sim.launch
@@ -49,7 +49,10 @@
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find x2_description)/rviz/view_robot.rviz"/>
 
   <!-- CORC -->
-  <node name="$(arg robot_name)" pkg="CORC" type="X2DemoMachine_APP_NOROBOT" output="screen"/>
+  <node name="$(arg robot_name)" pkg="CORC" type="X2DemoMachine_APP_NOROBOT" output="screen" args="-can vcan0"/>
+
+  <!-- rqt gui for dynamic params -->
+  <node name="rqt_gui" pkg="rqt_gui" type="rqt_gui"/>
 
 </launch>
 
diff --git a/lib/FLNL/baseSocket.cpp b/lib/FLNL/baseSocket.cpp
@@ -41,7 +41,8 @@ baseSocket::baseSocket():
 
 //! Destructor releasing memory and closing the socket
 baseSocket::~baseSocket() {
-    Disconnect();
+    if(Connected)
+        Disconnect();
     pthread_mutex_destroy(&ReceivedMutex);
     pthread_mutex_destroy(&ReceivedCmdMutex);
     delete[] ReceivedValues;
@@ -253,8 +254,6 @@ void unlock_mutex(void * m) {
 void * receiving(void * c) {
     baseSocket * local=(baseSocket*)c;
 
-    short int remainingtoprocess_n=0;
-
     while(local->Connected) {
         //Read a full frame
         int ret=recv(local->Socket, (char *)local->FullMessageIn, MESSAGE_SIZE, 0);
@@ -287,8 +286,6 @@ void * receiving(void * c) {
                     printf("FLNL::Error receiving (wrong number of params).\n");
                 }
                 #endif
-                //discard any previous remaining data
-                remainingtoprocess_n=0;
             }
             //Is it values?
             else if(local->FullMessageIn[0]==local->InitValueCode && cksum_ok) {
@@ -309,68 +306,7 @@ void * receiving(void * c) {
                     printf("FLNL::Error receiving (wrong number of values).\n");
                 }
                 #endif
-                remainingtoprocess_n=0;
             }
-//            else if() {
-//                //If just recv msg looks ok (init code and checksum)
-//                if(local->FullMessageIn[0]==local->InitValueCode && cksum_ok) {
-//                    //then use it as it is
-//                    unsigned short int nb_values = local->FullMessageIn[1];
-//
-//                    memcpy(local->ToProcess, local->FullMessageIn, MESSAGE_SIZE);
-//                    //discard any previous remaining data
-//                    remainingtoprocess_n=0;
-//                }
-//                else {
-//                    //Use stored init part of message in buffer if any
-//                    memcpy(local->ToProcess, local->MessageRemainingToProcess, remainingtoprocess_n);
-//                    //concatenate with the begining of received sequence and use that
-//                    memcpy(&local->ToProcess[remainingtoprocess_n], local->FullMessageIn, MESSAGE_SIZE-remainingtoprocess_n);
-//
-//                    /*printf("Pre:");
-//                    for(int k=0; k<remainingtoprocess_n; k++)
-//                        printf("%02X", local->MessageRemainingToProcess[k]);
-//                    printf(" + ");
-//                    for(int k=0; k<ret; k++)
-//                        printf("%02X", local->FullMessageIn[k]);
-//                    printf(" = \nPre:");
-//                    for(int k=0; k<MESSAGE_SIZE; k++)
-//                        printf("%02X", local->ToProcess[k]);
-//                    printf(" (%d+%d=?%d)\n", remainingtoprocess_n, ret, MESSAGE_SIZE);*/
-//
-//                    //Store end of message for later use in buffer
-//                    unsigned int i;
-//                    for(i=MESSAGE_SIZE-1; i>=0; i--) {
-//                        remainingtoprocess_n=MESSAGE_SIZE-i;
-//                        if(local->FullMessageIn[i]==local->InitValueCode)
-//                            break;
-//                    }
-//                    memcpy(local->MessageRemainingToProcess, &local->FullMessageIn[i], remainingtoprocess_n);
-//
-//                    /*for(int k=0; k<remainingtoprocess_n; k++)
-//                        printf("%02X", local->MessageRemainingToProcess[k]);
-//                    printf(" = \n");
-//                    for(int k=0; k<remainingtoprocess_n; k++)
-//                        printf("%02X", local->FullMessageIn[i+k]);
-//                    printf(" (%d)\n\n", remainingtoprocess_n);*/
-//                }
-//
-//                //Check init code and checksum
-//                if(local->ToProcess[0]==local->InitValueCode && Checksum(local->ToProcess)==local->ToProcess[MESSAGE_SIZE-1]) {
-//                    //Copy received values
-//                    pthread_mutex_lock(&local->received_mutex);
-//                    pthread_cleanup_push(unlock_mutex, (void *)&local->received_mutex); //Ensure that mutex will be unlock on thread cancelation (disconnect)
-//                    memcpy(local->ReceivedValues, &local->ToProcess[2], local->NbValuesToReceive*sizeof(double)); //TODO!!!!!!!!!!!!!!!!!!!!!
-//                    pthread_cleanup_pop(1); //unlock mutex
-//                    local->IsValues=true;
-//                }
-//                #ifdef VERBOSE
-//                else {
-//                    //Incorrect values
-//                    printf("FLNL::Error receiving (wrong code or checksum).\n");
-//                }
-//                #endif
-//            }
         }
         else if(ret<0) {
             #ifdef VERBOSE

diff --git a/script/initCAN0.sh b/script/initCAN0.sh
@@ -3,9 +3,10 @@
 #initialisation of CAN interface on BBAI
 #assumes proper configuration on CAN0 (see https://stackoverflow.com/questions/62207737/beaglebone-ai-how-to-setup-can-bus)
 
+echo "Enabling CAN0"
 sudo ip link set can0 up type can bitrate 1000000
 sudo ifconfig can0 up
+#sudo ifconfig can0 txqueuelen 1000
 
-echo "can0 up. Dumping (ctrl+c to close):"
-
-candump -c -t z can0,080~111111 #Filter out 080 sync messages
+#echo "can0 up. Dumping (ctrl+c to close):"
+#candump -c -t z can0,080~111111 #Filter out 080 sync messages
diff --git a/script/initCAN0CAN1.sh b/script/initCAN0CAN1.sh
@@ -1,10 +1,14 @@
-#Initializes can0 and can1. Set the queue length top 1000
+#!/bin/bash
 
+#initialisation of CAN interfaces on BB
+
+echo "Enabling CAN0"
 sudo ip link set can0 up type can bitrate 1000000
 sudo ifconfig can0 up
 
+echo "Enabling CAN1"
 sudo ip link set can1 up type can bitrate 1000000
 sudo ifconfig can1 up
 
-sudo ifconfig can0 txqueuelen 1000
-sudo ifconfig can1 txqueuelen 1000
+#echo "can0 up. Dumping (ctrl+c to close):"
+#candump -c -t z can0,080~111111 #Filter out 080 sync messages
diff --git a/script/initVCAN.sh b/script/initVCAN.sh
@@ -1,6 +1,8 @@
-echo "enabling VCAN device on vcan0"
+#!/bin/bash
+
+echo "Enabling VCAN on vcan0"
 sudo modprobe vcan
 sudo ip link add dev vcan0 type vcan
 sudo ip link set up vcan0
-echo "starting candump of vcan0"
-candump vcan0
+#echo "starting candump of vcan0"
+#candump vcan0
diff --git a/script/uploadBB.sh b/script/uploadBB.sh
@@ -7,6 +7,7 @@ SSH_USER="debian"
 BUILD_FOLDER="build/"
 INIT_SCRIPTS="*.sh"
 SCRIPT_FOLDER="script/"
+CONFIG_FOLDER="config/"
 
 #use default BB address (dependent on OS used)
 if [[ "$OSTYPE" == "cygwin" ]] || [[ "$OSTYPE" == "msys" ]] || [[ "$OSTYPE" == "win32" ]]; then 
@@ -17,42 +18,37 @@ else
   SSH_IP_ADDR="192.168.6.2"
 fi
 
+#Check if BB is connected
+ping -W 1 -c 1 $SSH_IP_ADDR >/dev/null 2>&1
+if [ $? -ne 0 ] ; then 
+	echo "Nothing connected on ${SSH_IP_ADDR}. Exiting."
+	exit
+fi
+
 #set in root folder
 parent_path=$( cd "$(dirname "${BASH_SOURCE[0]}")" ; pwd -P )
 cd "$parent_path"/..
 
 
-echo "---------------------------------------------------"
-echo "Create remote folders (~/CANOpenRobotController/)"
-echo "---------------------------------------------------"
+echo "## Create remote folder (~/CANOpenRobotController/):"
+echo -n "ssh -q $SSH_USER@$SSH_IP_ADDR "mkdir -p ~/CANOpenRobotController/" ... "
 ssh -q $SSH_USER@$SSH_IP_ADDR "mkdir -p ~/CANOpenRobotController/"
-ssh -q $SSH_USER@$SSH_IP_ADDR "mkdir -p ~/CANOpenRobotController/$SCRIPT_FOLDER"
-ssh -q $SSH_USER@$SSH_IP_ADDR "mkdir -p ~/CANOpenRobotController/$BUILD_FOLDER"
 echo "done."
 
 echo ""
-echo "---------------------------------------------------"
-echo "Copy scripts"
-echo "---------------------------------------------------"
-for SCRIPT in "$SCRIPT_FOLDER"*.sh
-do
-  echo ${SCRIPT}
-  scp -q ${SCRIPT} $SSH_USER@$SSH_IP_ADDR:~/CANOpenRobotController/${SCRIPT}
-done
+echo "## Copy scripts:"
+echo -n "rsync -chaz -e 'ssh -q' ${SCRIPT_FOLDER} $SSH_USER@$SSH_IP_ADDR:~/CANOpenRobotController/${SCRIPT_FOLDER} ... "
+rsync -chaz -e 'ssh -q' ${SCRIPT_FOLDER} $SSH_USER@$SSH_IP_ADDR:~/CANOpenRobotController/${SCRIPT_FOLDER}
+echo "done."
+
+echo ""
+echo "## Copy config files:"
+echo -n "rsync -chaz -e 'ssh -q' ${CONFIG_FOLDER} $SSH_USER@$SSH_IP_ADDR:~/CANOpenRobotController/${CONFIG_FOLDER} ... "
+rsync -chaz -e 'ssh -q' ${CONFIG_FOLDER} $SSH_USER@$SSH_IP_ADDR:~/CANOpenRobotController/${CONFIG_FOLDER}
 echo "done."
 
 echo ""
-echo "---------------------------------------------------"
-echo "Copy APP(s):"
-echo "---------------------------------------------------"
-for APP in "$BUILD_FOLDER"*APP
-do
-  echo ${APP}
-  scp -q ${APP} $SSH_USER@$SSH_IP_ADDR:~/CANOpenRobotController/${APP}
-done
-for APP in "$BUILD_FOLDER"*APP_NOROBOT
-do
-  echo ${APP}
-  scp -q ${APP} $SSH_USER@$SSH_IP_ADDR:~/CANOpenRobotController/${APP}
-done
-echo "done."
+echo "## Copy APP(s):"
+echo -n "rsync -chaz -e 'ssh -q' --include='*APP' --include='*APP_NOROBOT' --exclude='*' ${BUILD_FOLDER} $SSH_USER@$SSH_IP_ADDR:~/CANOpenRobotController/${BUILD_FOLDER} ... "
+rsync -chaz -e 'ssh -q' --include='*APP' --include='*APP_NOROBOT' --exclude='*' ${BUILD_FOLDER} $SSH_USER@$SSH_IP_ADDR:~/CANOpenRobotController/${BUILD_FOLDER}
+echo "done."