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| ''Note: these methods are obsolete and kept here for historic reference only. Most probably, you may ignore this page and go back to [[Innovation Days 2009]].'' | | ''You may ignore this page and go back to [[Innovation Days 2009]] or [[iCub instructions]].'' |
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| == Other components ==
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| === Cameras ===
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| Open a chico3 console and type:
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| cd $ICUB_ROOT/app/default/scripts
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| ./cameras start
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| Sometimes we need to manually establish these connections in order for images to display:
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| yarp connect /icub/cam/right /icub/view/right
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| yarp connect /icub/cam/left /icub/view/left
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| To turn off the cameras:
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| ./cameras stop
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| To change the size of images:
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| nano -w $ICUB_ROOT/app/$ICUB_ROBOTNAME/scripts/config.sh ''// TODO: check if we are really using $ICUB_ROBOTNAME and not default''
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| == Ball tracking and reaching demo ==
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| * Run image rectifier on '''icubbrain2'''
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| cd 13.FIL
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| ./0.LEFT_320x240_image_rectifier.sh
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| * Set left camera colour parameters and run tracker
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| cd 13.FIL
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| ./1.LEFT320x240.iCub_set_parameters_of_framegrabber_REALISTIC.sh
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| ./2.execute_the_tracker.sh
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| * Start a viewer on chico3
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| yarpview /viewer
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| * Start the facial expression driver on the [[pc104]]:
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| cd $ICUB_DIR/app/faceExpressions/scripts
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| ./emotions.sh $ICUB_DIR/app/iCubLisboa01/conf
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| * Run expression decision module
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| cd 13.FIL
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| ./3.execute_trackerExpressions.sh
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| * Run coordinate transformation module
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| cd 13.FIL
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| ./5.execute_LeftEyeToRoot.sh
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| * Run arm inverse kinematics module (this ''must'' run on icubbrain2)
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| iKinArmCtrl --onlyXYZ
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| * Connect all ports. Careful: the robot will start moving after this step!
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| cd 13.FIL
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| ./4.LEFT.iCub_connect_ports.sh
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| ./6.connect_LeftEyeToRoot.sh
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| * [OPTIONAL, FOR DEBUG] Read the 3D position of the ball in the root reference frame (from any machine)
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| yarp read ... /icub/LeftEyeToRoot/ballPositionOut
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