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