[Robotics] robotics example
Gilberto Echeverria
gilberto.echeverria at laas.fr
Fri Jan 22 13:41:46 CET 2010
Hi Breno,
It is true that there is not much that can be done with the simulator at
the moment. But there are a few things you can try.
In the directory $ORS_ROOT/clients/atrv there are a few C programs that
connect with the simulator, to send commands to the robot. You can
compile those programs, and then run them with the appropriate arguments:
atrv_destination-1.0 You run this program with the name of the robot you
want to control as the first parameter. The default name of the robot is
the example files is ATRV (the name of the object representing the robot
chassis). But you have to add the letters OB before the name of the
robot when referring to an object in the Game Engine. For example, you
can run the program as:
$ $ORS_ROOT/clients/atrv/atrv_destination-1.0 OBATRV
Once the program is running, it will ask you for the coordinates where
the robot should go. You enter these as three floating point numbers,
separated by spaces. When you hit ENTER, a marker will move to that
location, and the robot will move near it. The client program can also
read information from the robot. At the moment it reads its location
back, but it can read the output of any of the sensors installed on the
robot, simply by setting it to read the appropriate yarp ports.
atrv_dest_cams-1.0 Works nearly the same, but it also takes a second
argument, which is the number of cameras on board of the robot. To use
this example work, you will need yarpview working, and opened to listen
a port with a name in this format: /img/[robot_name]/[camera_name]
For example, you'll open yarpview as:
$ yarpview /img/OBATRV/Camera1
And then run the client program as:
$ $ORS_ROOT/clients/atrv/atrv_dest_cams-1.0 OBATRV
From this point, the client program works the same as
atrv_dest_cams-1.0. The difference is that in Blender you can now press
the spacebar to toggle the image stream to yarpview on and off. In the
yarpview window you'll see the image captured by the camera on board the
robot.
As you have seen, pressing the arrow keys in one of the examples makes
the man move. It is set as the target of the robot in that file. So when
you input coordinates for the new destination, the man will teleport
there. However, while the robot is moving, you can move the human and
have the robot chase him.
These are still only test programs to try the communication of the
simulator with external modules. Eventually we'll connect the simulation
with the real control systems of the robot.
Try these programs out, and let us know how it goes. Cheers.
Gilberto
On 01/21/2010 09:35 PM, Breno Carneiro Pinheiro wrote:
> Hi all, I got some examples running without errors reported. But
> sincerely I could not understand what should I look at those examples.
> I mean, is there any control algorithm running? I pressed up/down and
> right/left keys and I got a men walking around. Do you have any tips
> to improve my experiences with ors?
>
> I installed yarp following INSTALL file but I didn't get yarpview
> installed. I think it's fundamental to get properly advantages from
> some examples.
>
> Thanks,
>
> Breno
>
> 2010/1/19 Breno Carneiro Pinheiro <brenodee at gmail.com
> <mailto:brenodee at gmail.com>>
>
> Hi Nicolas, thanks for your support. I did all recommendations
> listed INSTALL file inside /ors dir. That means that my blender is
> 2.6, my python is also 2.6 and ACE is 5.6.3 I got ors file with
> bzr command from the repository mentioned by Gilberto.
>
> Hope I get it through to you!!!
>
> Thanks a lot,
>
> Breno
>
>
>
>
> 2010/1/18 Nicolas Lassabe <Nicolas.Lassabe at onera.fr
> <mailto:Nicolas.Lassabe at onera.fr>>
>
> Hi,
>
> Could you check if you have the blender 2.49 for python 2.6
> because there is also blender 2.49 for 2.5 ?
> But I don't think the problem from this... Could you give us
> also the repository version you have ?
>
> thanks,
> Nicolas
>
>
> On 01/16/2010 03:58 AM, Breno Carneiro Pinheiro wrote:
>> Hi, thanks for your support!!! I installed python 2.6.4 and
>> I'm using blender 2.49b.
>>
>> I grab the first scenarii in ors dir and the following steps
>> before press P on blender environment is below:
>>
>>
>> root at breno-HP:/usr/local/blender# yarp server &
>> [5] 31759
>> yarp: Port /root active at tcp://192.168.1.3:10000
>> <http://192.168.1.3:10000>
>> Name server can be browsed at http://192.168.1.3:10000/
>> root at breno-HP:/usr/local/blender# yarp: Bootstrap server
>> listening at mcast://224.2.1.1:10001 <http://224.2.1.1:10001>
>>
>> root at breno-HP:/usr/local/blender# Detected
>> GL_ARB_texture_env_combine
>> Detected GL_ARB_texture_cube_map
>> Detected GL_ARB_multitexture
>> Detected GL_ARB_vertex_program
>> Detected GL_ARB_depth_texture
>> Detected GL_EXT_separate_specular_color
>> shaders not supported!
>>
>>
>> Then I press P and I got:
>> Blender Game Engine Started
>>
>> Python script error from controller "Initialize#CONTR#1":
>> Traceback (most recent call last):
>> File "Scene_Initialize.py", line 16, in <module>
>> File
>> "/home/breno/Diversos/ors/scripts/middleware/independent/IndependentBlender.py",
>> line 16, in <module>
>> from middleware.yarp.YarpBlender import *
>> File
>> "/home/breno/Diversos/ors/scripts/middleware/yarp/YarpBlender.py",
>> line 96
>> except KeyError as detail:
>> ^
>> SyntaxError: invalid syntax
>> Python script error from controller "Initialize#CONTR#1":
>> Traceback (most recent call last):
>> File "Basic_Init.py", line 2, in <module>
>> KeyError: 'requested item "motion_actuator" does not exist'
>> XIO: fatal IO error 11 (Resource temporarily unavailable) on
>> X server ":0.0"
>> after 5794 requests (5794 known processed) with 0
>> events remaining.
>>
>>
>> I think is missing a lot of thing because all others example
>> is not working with deferents errors each one. But please
>> help to solve one by one so that I can start doing by myself.
>>
>>
>> Thanks for all,
>>
>> Breno
>>
>>
>> 2010/1/15 Gilberto Echeverria <gilberto.echeverria at laas.fr
>> <mailto:gilberto.echeverria at laas.fr>>
>>
>> Hi Breno,
>>
>> I just tried to find out what could be the problem, and
>> honestly I couldn't make that code work myself. The
>> blender file you are using is a bit outdated now, since
>> we have made lots of changes to the whole framework. Our
>> yarp-blender bindings have changed a lot, and so, they
>> don't work anymore with this file.
>>
>> Can you try downloading the latest files from:
>> https://code.launchpad.net/~blender-for-robotics/openrobots-simulator/ors
>> <https://code.launchpad.net/%7Eblender-for-robotics/openrobots-simulator/ors>
>> To install, the instructions are in:
>> https://answers.launchpad.net/openrobots-simulator/+faq/844
>>
>> Let us know if you have any problems installing or
>> running this code.
>> All the best.
>>
>> Gilberto
>>
>>
>>
>> On 01/14/2010 03:05 AM, Breno Carneiro Pinheiro wrote:
>>> Hi Nicolas, I tried what you said but I still get some
>>> repeatedly import errors as the messages below:
>>>
>>> ImportError: No module named middleware.yarp
>>> Python script error from controller "object_pick#CONTR#4":
>>> Traceback (most recent call last):
>>> File "object_pick", line 4, in <module>
>>> AttributeError: 'module' object has no attribute
>>> 'selectedObject'
>>> Python script error from controller "object_pick#CONTR#4":
>>> Traceback (most recent call last):
>>> File "object_pick", line 4, in <module>
>>> AttributeError: 'module' object has no attribute
>>> 'selectedObject'
>>> Python script error from controller "object_pick#CONTR#4":
>>> Traceback (most recent call last):
>>> File "object_pick", line 4, in <module>
>>> AttributeError: 'module' object has no attribute
>>> 'selectedObject'
>>> Python script error from controller
>>> "check_visibility#CONTR#5":
>>> Traceback (most recent call last):
>>> File "check_visibility", line 4, in <module>
>>>
>>>
>>> I was looking for middleware.yarp but I didn't find it
>>> yet. Another issue is why I can't edit
>>> Yarp_python_simulator.blend file. I mean I tried to
>>> change some pieces of code but It's not allowed to
>>> change anything. Do you have any idea about it? My
>>> python is 2.5.
>>>
>>> Thanks agaiin
>>>
>>> Breno
>>>
>>>
>>> 2009/12/21 Nicolas Lassabe <Nicolas.Lassabe at onera.fr
>>> <mailto:Nicolas.Lassabe at onera.fr>>
>>>
>>> Hi Breno,
>>>
>>> Did you copy the yarp.py and _yarp.so ? Do you have
>>> the same version of python to run blender and for
>>> yarp-python ? It should be python 2.5 or 2.6.
>>>
>>> $ sudo cp yarp.py /usr/lib/python2.5/site-package/
>>> $ sudo cp _yarp.so
>>> /usr/lib/python2.5/site-package/_yarp.so
>>>
>>>
>>> Nicolas
>>>
>>>
>>> Breno Carneiro Pinheiro wrote:
>>> > Hi folks I started learning a little bit about
>>> YARP and its
>>> > integration with Blender.
>>> >
>>> > I decided to run some examples like the one posted
>>> here:
>>> >
>>> http://wiki.blender.org/index.php?title=Robotics:Middleware/YARP/Python_Simulator_Example&useskin=monobook#Image_grabbing_and_output_with_YARP
>>> <http://wiki.blender.org/index.php?title=Robotics:Middleware/YARP/Python_Simulator_Example&useskin=monobook#Image_grabbing_and_output_with_YARP>
>>> >
>>> <http://wiki.blender.org/index.php?title=Robotics:Middleware/YARP/Python_Simulator_Example&useskin=monobook#Image_grabbing_and_output_with_YARP
>>> <http://wiki.blender.org/index.php?title=Robotics:Middleware/YARP/Python_Simulator_Example&useskin=monobook#Image_grabbing_and_output_with_YARP>>
>>> > but a I got a lot of difficulties to runs it
>>> properly. I'm gonna
>>> > explain what I did:
>>> >
>>> > 1 - Yarp 2.2.5 installation: passed ok! I compiled
>>> as suggested here:
>>> >
>>> http://wiki.blender.org/index.php/Robotics:Middleware/YARP
>>> and
>>> > everything looks fine!
>>> >
>>> > 2 - Yarp check is ok!
>>> >
>>> > 3 - Yarp read and write is ok!
>>> >
>>> > 4 - I set the variable BLENDER_ROBOTICS_ROOT to
>>> > /my-path/blender_robotics/scripts where are place
>>> the files:
>>> >
>>> >
>>> > check_visibility finalization image_grabber_yarp
>>> initialization
>>> > middleware object_pick object_selection
>>> Yarp_python_simulator.blend
>>> >
>>> > and the middleware dir.
>>> >
>>> > 5 - Then I downloaded the
>>> Yarp_python_simulator.blend that's place in
>>> > another dir.
>>> >
>>> > 6 - I open this .blend file with blender 2.49.
>>> >
>>> > 7- Then I followed the instructions on the pege
>>> mentioned. The
>>> > instructions are:
>>> >
>>> > To test that:
>>> >
>>> > * Start | yarp server|
>>> > * Launch | yarp read /reader|
>>> > * Launch the GameEngine (key P)
>>> > * Connect them with | yarp connect
>>> /blender_simu/cog_map /reader|
>>> >
>>> > everything seems to be ok until I press key P at
>>> blender environment.
>>> > When I do it a error message appear repeatedly:
>>> >
>>> > Python script error from controller
>>> "image_grabber#CONTR#6":
>>> > Traceback (most recent call last):
>>> > File "image_grabber_yarp", line 1, in <module>
>>> > ImportError: No module named yarp
>>> > Python script error from controller
>>> "image_grabber#CONTR#6":
>>> > Traceback (most recent call last):
>>> > File "image_grabber_yarp", line 1, in <module>
>>> > ImportError: No module named yarp
>>> > Python script error from controller
>>> "image_grabber#CONTR#6":
>>> > Traceback (most recent call last):
>>> > File "image_grabber_yarp", line 1, in <module>
>>> > ImportError: No module named yarp
>>> > Python script error from controller
>>> "check_visibility#CONTR#5":
>>> > Traceback (most recent call last):
>>> > File "check_visibility", line 4, in <module>
>>> > ImportError: No module named middleware.yarp
>>> >
>>> > Then if I execute the | yarp connect
>>> /blender_simu/cog_map /reader
>>> >
>>> > |I got the message: Cannot find port named
>>> /blender_simu/cog_map
>>> >
>>> > Besides that errors I would like to know why I
>>> can't edit the scripts
>>> > at Yarp_python_simulator.blend
>>> > file. I mean when I try to change something like
>>> scriptRoot and ask
>>> > for save It asks me: CreateNewFile and then say
>>> that is unable to
>>> > save the file.
>>> >
>>> > Could anybody give me some help on all that issues?
>>> >
>>> > Thanks a lot!!
>>> > --
>>> > Breno Carneiro Pinheiro
>>> >
>>> ------------------------------------------------------------------------
>>> >
>>> > _______________________________________________
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>>> > http://lists.blender.org/mailman/listinfo/robotics
>>> >
>>>
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>>>
>>>
>>>
>>> --
>>> Breno Carneiro Pinheiro
>>>
>>>
>>> _______________________________________________
>>> Robotics mailing list
>>> Robotics at blender.org <mailto:Robotics at blender.org>
>>> http://lists.blender.org/mailman/listinfo/robotics
>>>
>>
>>
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>> http://lists.blender.org/mailman/listinfo/robotics
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>>
>>
>>
>> --
>> Breno Carneiro Pinheiro
>>
>>
>> _______________________________________________
>> Robotics mailing list
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>> http://lists.blender.org/mailman/listinfo/robotics
>>
>
>
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>
>
>
>
> --
> Breno Carneiro Pinheiro
>
>
>
>
> --
> Breno Carneiro Pinheiro
>
>
> _______________________________________________
> Robotics mailing list
> Robotics at blender.org
> http://lists.blender.org/mailman/listinfo/robotics
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