Vizzy PC104 - Revision history

Giovanni Saponaro: clean up obsolete Vizzy information

2016-07-22T14:06:11Z

clean up obsolete Vizzy information

← Older revision		Revision as of 14:06, 22 July 2016
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	~~==Debian Linux installation on the PC104==~~

	~~Due to the constraints of PCAN bus module, the Debian version must be 4.0 (etch)~~

	~~Linux version 2.6.24-etchnhalf.1-686~~

	~~The repositories of this version are not online anymore, so in order to install the system, you should:~~

	*Download the netinstaller and the DVDs containing the packages, http://www.debian.org/releases/etch/debian-installer/
	*During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.

	~~==Configuration files==~~

	* iCubInterface config
	~~/icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini~~
	* Motor configuration
	~~/icub/app/iCubLisboa01/conf/file_part.ini~~
	* Calibration C++ files
	~~/icub/main/src/libraries/icubmod/~~

	~~==PCAN bus driver==~~

	~~===Installation===~~

	~~The original installation procedure is on the robotCub wiki, http://eris.liralab.it/wiki/The_Linux_on_the_pc104 and http://eris.liralab.it/wiki/Compilation_on_the_pc104 . We follow the same procedure,~~

	~~1) In addition to the iCub and YARP environment variables, and depending on the device you use you will also need:~~

	~~PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi~~

	~~It is recommended to add this variable to the /etc/bash.bashrc (as root)~~

	~~export PLXCANAPI_DIR=/usr/local/src/robot/drivers/plxCanApi~~

	~~2) Uncompress the file http://eris.liralab.it/iCub/downloads/drivers/linux/pc104etchnhalf-bin-1.2.tgz in the folder /usr/local/src/robot/.~~

	~~3) Compilation of the iCub repository, which it needs to enable the follwing flags:~~

	~~ENABLE_icubmod_pcan~~
	~~ENABLE_icubmod_canmotioncontrol~~
	~~ENABLE_icubmod_dragonfly2~~
	~~ENABLE_icubmod_logpolarclient~~
	~~ENABLE_icubmod_logpolargrabber~~
	~~ENABLE_icubmod_xsensmtx~~

	~~ToDo: Check the source code provided by IIT in order to compile it against newer or other Linux versions.~~

	~~===Start up script for PCAN bus driver===~~

	~~Add the following lines to /etc/rc.local script:~~

	~~declare -x PLX_SDK_DIR=/usr/local/src/robot/drivers/plxCanApi~~
	~~bash -c "$PLX_SDK_DIR/Bin/Plx_load 9030"~~

	~~The lines above allow the PLX module loading during the pc104 boot.~~

	~~==Enviroment variables==~~

	~~===For running the iCubInterface===~~

	~~Add the following lines to /etc/bash.bashrc (as root)~~

	~~export ICUB_DIR=/iCub~~
	~~export ICUB_ROOT=/iCub~~
	~~export YARP_DIR=/yarp2/build~~
	~~export YARP_ROOT=/yarp2~~

	~~We recommend to add the lines above before the following lines on /etc/bash.bashrc~~

	~~# If not running interactively, don't do anything~~
	~~[ -z "$PS1" ] && return~~

	~~The proper placing of the environment variables will allow to access their values on a non-interactive login.~~

	~~===For remote login===~~

	~~For remote access such as ssh (putty on Windows), you should add the following line to /etc/profile (as root), right at the beginning:~~

	~~/source /etc/bash.bashrc~~

	~~==Dragonfly2==~~

	~~The dragonfly2 requires a libdc1394 library with version >= 2.0.0, which needs to be compiled for this debian version. In addition, we added the following line to the /etc/rc.local script:~~

	~~chmod a+rw /dev/raw1394~~

	~~in order to allow all the users to access the firewire devices.~~

	The vizzyInterface does not activate the cameras automatically, so it is needed to activate the cameras by hand on the PC104. The icubmoddev is used to activate the camera device and setup video ports.
	~~This is an example to activate the left camera on Vizzy (the gains are set to better detect the red ball with the ball tracker, this can be adjusted depending on the goal):~~

	<pre style="white-space:normal;">   icubmoddev --device grabber --subdevice dragonfly2 --width 320 --height 240 --video_type 1 --white_balance 0.474 0.648 --gain 0.312 --shutter 0.592 --name /vizzy/cam/left --brightness 0 --DR2 --stamp --d 0 --sharpness 0.5 --hue 0.48 --gamma 0.4 --saturation 0.826 --framerate 30</pre>

	~~[[Vizzy\|<< Back to Vizzy wiki homepage]]~~


	~~[[Category:Robots]]~~
	~~[[Category:Vislab]]~~

Daragao: /* Dragonfly2 */

2012-09-07T12:50:08Z

Dragonfly2

← Older revision		Revision as of 12:50, 7 September 2012
Line 90:		Line 90:
	This is an example to activate the left camera on Vizzy (the gains are set to better detect the red ball with the ball tracker, this can be adjusted depending on the goal):		This is an example to activate the left camera on Vizzy (the gains are set to better detect the red ball with the ball tracker, this can be adjusted depending on the goal):

	icubmoddev --device grabber --subdevice dragonfly2 --width 320 --height 240 --video_type 1 --white_balance 0.474 0.648 --gain 0.312 --shutter 0.592 --name /vizzy/cam/left --brightness 0 --DR2 --stamp --d 0 --sharpness 0.5 --hue 0.48 --gamma 0.4 --saturation 0.826 --framerate 30		<pre style="white-space:normal;">   icubmoddev --device grabber --subdevice dragonfly2 --width 320 --height 240 --video_type 1 --white_balance 0.474 0.648 --gain 0.312 --shutter 0.592 --name /vizzy/cam/left --brightness 0 --DR2 --stamp --d 0 --sharpness 0.5 --hue 0.48 --gamma 0.4 --saturation 0.826 --framerate 30</pre>

	[[Vizzy\|<< Back to Vizzy wiki homepage]]		[[Vizzy\|<< Back to Vizzy wiki homepage]]

Daragao: /* Dragonfly2 */

2012-09-07T12:28:09Z

Dragonfly2

← Older revision		Revision as of 12:28, 7 September 2012
Line 87:		Line 87:
	in order to allow all the users to access the firewire devices.		in order to allow all the users to access the firewire devices.

			The vizzyInterface does not activate the cameras automatically, so it is needed to activate the cameras by hand on the PC104. The icubmoddev is used to activate the camera device and setup video ports.
			This is an example to activate the left camera on Vizzy (the gains are set to better detect the red ball with the ball tracker, this can be adjusted depending on the goal):

			icubmoddev --device grabber --subdevice dragonfly2 --width 320 --height 240 --video_type 1 --white_balance 0.474 0.648 --gain 0.312 --shutter 0.592 --name /vizzy/cam/left --brightness 0 --DR2 --stamp --d 0 --sharpness 0.5 --hue 0.48 --gamma 0.4 --saturation 0.826 --framerate 30

	[[Vizzy\|<< Back to Vizzy wiki homepage]]		[[Vizzy\|<< Back to Vizzy wiki homepage]]

Daragao at 15:05, 23 September 2011

2011-09-23T15:05:01Z

@@ Line 10: / Line 10: @@
 *During installation, there will be a problem due to the unavailability of the packages. At this point continue the install procedure and when rebooting the system you will be able to add manually all the packages you need.
 ==PCAN bus driver==
@@ Line 46: / Line 54: @@
 The lines above allow the PLX module loading during the pc104 boot.
 ==Enviroment variables==

Daragao: /* Configuration files */

2011-09-23T15:04:15Z

Configuration files

← Older revision		Revision as of 15:04, 23 September 2011
Line 50:		Line 50:

	* iCubInterface config		* iCubInterface config
	/icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini		/icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini
	* Motor configuration		* Motor configuration
	/icub/app/iCubLisboa01/conf/file_part.ini		/icub/app/iCubLisboa01/conf/file_part.ini
	* Calibration C++ files		* Calibration C++ files
	/icub/main/src/libraries/icubmod/		/icub/main/src/libraries/icubmod/

	==Enviroment variables==		==Enviroment variables==

Daragao: /* Configuration files */

2011-09-23T15:03:28Z

Configuration files

← Older revision		Revision as of 15:03, 23 September 2011
Line 52:		Line 52:
	/icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini		/icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini
	* Motor configuration		* Motor configuration
	/icub/app/iCubLisboa01/conf/file_part.in		/icub/app/iCubLisboa01/conf/file_part.ini
	* Calibration C++ files		* Calibration C++ files
	/icub/main/src/libraries/icubmod/		/icub/main/src/libraries/icubmod/

Daragao: /* Configuration files */

2011-09-23T15:03:14Z

Configuration files

← Older revision		Revision as of 15:03, 23 September 2011
Line 50:		Line 50:

	* iCubInterface config		* iCubInterface config
	** /icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini		/icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini
	* Motor configuration		* Motor configuration
	**/icub/app/iCubLisboa01/conf/file_part.in		/icub/app/iCubLisboa01/conf/file_part.in
	* Calibration C++ files		* Calibration C++ files
	** /icub/main/src/libraries/icubmod/		/icub/main/src/libraries/icubmod/

	==Enviroment variables==		==Enviroment variables==

Daragao at 15:02, 23 September 2011

2011-09-23T15:02:55Z

← Older revision		Revision as of 15:02, 23 September 2011
Line 49:		Line 49:
	==Configuration files==		==Configuration files==

	* iCubInterface config		* iCubInterface config
	/icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini		** /icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini
	* Motor configuration: /icub/app/iCubLisboa01/conf/file_part.in		* Motor configuration
	* Calibration C++ files: /icub/main/src/libraries/icubmod/		**/icub/app/iCubLisboa01/conf/file_part.in
			* Calibration C++ files
			** /icub/main/src/libraries/icubmod/

	==Enviroment variables==		==Enviroment variables==

Daragao: /* Configuration files */

2011-09-23T15:01:58Z

Configuration files

← Older revision		Revision as of 15:01, 23 September 2011
Line 49:		Line 49:
	==Configuration files==		==Configuration files==

	* iCubInterface config: /icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini		* iCubInterface config
			/icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini
	* Motor configuration: /icub/app/iCubLisboa01/conf/file_part.in		* Motor configuration: /icub/app/iCubLisboa01/conf/file_part.in
	* Calibration C++ files: /icub/main/src/libraries/icubmod/		* Calibration C++ files: /icub/main/src/libraries/icubmod/

Daragao at 15:01, 23 September 2011

2011-09-23T15:01:29Z

← Older revision		Revision as of 15:01, 23 September 2011
Line 46:		Line 46:

	The lines above allow the PLX module loading during the pc104 boot.		The lines above allow the PLX module loading during the pc104 boot.

			==Configuration files==

			* iCubInterface config: /icub/app/iCubLisboa01/conf/vizzyInterfaceCartesian.ini
			* Motor configuration: /icub/app/iCubLisboa01/conf/file_part.in
			* Calibration C++ files: /icub/main/src/libraries/icubmod/

	==Enviroment variables==		==Enviroment variables==