Ieee-lazarillo

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Project Description[edit]

The aim of this project is to build a guide robot through JdeRobot application. The robot will receive some coordinates and it will try to reach there dodging all obstacles that it finds along the way. It will be equipped with a Kinect camera and a pair of sensors.

Our free source project is totally added in GitHub . We also have a YouTube channel where you can follow our progresses and keep yourself updated. We hope to make some pretty nice videos showing the "magic". Feel free to subscribe, you will be wellcome! IEEE-Lazarillo

Members[edit]

This project has six members from 'Rey Juan Carlos University':

IEEE Members[edit]

Collaborate Members[edit]

Progress[edit]

Second Step[edit]

After Christmas holidays, we have had two new members. We have been learning how to use JdeRobot with all the components: Gazebo, Ice and CameraServer. Also, we have done some example videos.

Hello World in Ice[edit]

First compile the hw.ice as:

slice2py hw.ice 

hw.ice [source code]

Run it in two differents terminals. In the first one write:

./server.py

And in the second one:

./client.py

This is how it should work once you have run it:

server.py [source code] client.py [source code]

Camera server and view[edit]

Run camera server using configuration code

cameraserver.cfg -- cameraserver --ICE.Config=camersaserver.cfg
cameraclient.cfg -- cameraclient --ICE.Config=camersaclient.cfg


First Step[edit]

This week we have been installing all the repositories, like JdeRobot, Ice and Gazebo. At first we have had some problems with JdeRobot. We are still solving them.

Installing Jderobot for developers[edit]

   sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list'
   wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
   sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
  • Now you do:
   $ sudo apt-get update
   $ sudo apt-get install jderobot-deps
   git clone http://github.com/RoboticsURJC/JdeRobot.git
   cd JdeRobot
   cmake .
   make
   sudo make Install

And you will have your JdeRobot finally installed.

For further information, consult: http://jderobot.org/Manual-5#Installing_JdeRobot_5

Installing Gazebo[edit]

sudo apt-get install gazebo5 libgazebo5-dev

Installing ICE[edit]

Slice[edit]

It's the Specification Language for ICE.

sudo apt-get install ice35-slice
ICE translators[edit]

You must install Slice translators. It lets you get translation: [Slice definitions->Your desired language].

sudo apt-get install ice35-translators

GStreamer for CameraServer[edit]

sudo apt-get install libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev