Ieee-mcqueen

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Work with JdeRobot race in a track[edit]

Create a race circuit with gazebo and put a robot, get finish one lap on less time possible, development a function in python to run the circuit.

People[edit]

  • Ronny Soria rj.soria@alumnos.urjc.es
  • Ana Real a.realg@alumnos.urjc.es
  • Alejandro Ledesma ledesmax@gmail.com
  • Javier Gutiérrez-Maturana fj.gutierrezs@alumnos.urjc.es

Development[edit]

Install Jderobot development[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
  • In file /etc/apt/source.list Add this lines...
   # for ubuntu 14.04 LTS (32/64 bit)
   deb http://jderobot.org/apt trusty main
   deb-src http://jderobot.org/apt trusty main
  • Next steps...
   wget http://jderobot.org/apt/jderobot-key.asc
   sudo apt-key add jderobot-key.asc
   $ 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


JdeRobot development installed!

Watch Proyects[edit]

Get camera with opencv library in python with a code of a mate it works! process of image done.

OpenCV.py [source code]

Cameraview and cameraserver inside Jderobot[edit]

We found the files of cameraserver and cameraview in jderobot development.

   $ cd ~/JdeRobot/src/stable/components/cameraserver
   $ cameraserver --Ice.Config=cameraserver.cfg

cameraview.cfg [source code]

   $ cd ~/JdeRobot/src/stable/components/cameraview
   $ cameraview --Ice.Config=cameraview.cfg

cameraview.cfg [source code]

Now we try to launch cameraserver and cameraviewer with envoirment jderobot and files configurations of ICE.

Hello World with ICE Python Lenguage[edit]

Link Ice to get Hello world.

https://doc.zeroc.com/display/Ice36/Ice+Overview


Steps to Hello world[edit]

  • Slice Printer = > Module Printer  : Printer.ice
  • Server Printer = > Object Adapter Printer : Server.py
  • Client Printer = > Proxy Printer  : Client.py
  • Video Results = > Summary of process to create Hello world with Ice.
Step 1 Slice[edit]

The first step in writing any Ice application is to write a Slice definition containing the interfaces that are used by the application:

   module Demo {
       interface Printer {
           void printString(string s);
           void printInteger(int n);
       };
   };

Once created Printer.ice we will make to generate files skeleton to c++ lenguage:

   $ slice2py Printer.ice

And Ice will generate the files Printer.h and Printer.cpp.

Step 2 Server.py[edit]

We get the code from Link above.

Server.py [source code]

   $ chmod +x Server.py
   $ ./Server.py

And now we have got the server process to our hello world in Ice.

Step 3 Client.py[edit]

We get the code from Link above.


Client.py [source code]

   $ chmod +x Client.py
   $ ./Client.py

And now we have got client process.

Step 4 Results[edit]

Video Results Hello World in Ice

Develop cameraview_py[edit]

Cameraview_py with ICE QtCore and QtGui[edit]

Not functional per now we are trying code...

cameraview_py [source code]

Video cameraserver and introrob_py[edit]

We have modified the source code in sensors_py there are all Ice interfaces of Ardrone and we modify the identity of object adapter of CameraProxy to get the images of our camerasever from GUI of Ardrone.

Begining Gazebo Robot camera with our cameraview_py[edit]

Building a Robot with Gazebo[edit]

Tasks[edit]

  • [Task 1] Studing ICE.
  • [Task 2] Student CameraViewer.
  • [Task 3] Development a CameraViewer in Python.

Progress[edit]