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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]] or [[iCub demos]].'' | | ''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, old method ==
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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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| == Ball tracking and reaching demo, not so old method ==
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| This demo uses the left eye and the right arm of Chico. Assumption: left eye is running at a resolution of 320x240 pixels. Attention: make sure that the launcher uses '''icubbrain2''' (32bit) or any of the 32-bit Cortexes for the kinematics computation.
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| These dependencies will be checked by the GUI:
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| * [[#Cameras | cameras]] are running
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| * [[#iCubInterface | iCubInterface]] is running
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| You need to set the color parameters of the camera using the framegrabberGui (left eye) to the following. Be careful, though, that the first time that you move any slider the action typically does not work. You have to move the slider first to a random position and then to the desired one.
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| brightness 0
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| sharpness 0.5
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| white balance red 0.474
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| white balance blue 0.648
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| hue 0.482
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| saturation 0.826
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| gamma 0.400
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| shutter 0.592
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| gain 0.305
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| On chico3 type:
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| cd $ICUB_ROOT/app/default/scripts
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| ./manager.py $ICUB_ROOT/app/demoReach_IIT_ISR/scripts/isr/demoReach_IIT_ISR_RightHand.xml
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| Notes:
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| * the aforementioned XML file configures a system that moves the head and right arm of the robot. There exist also an XML file for moving juste the head and the left hand (<code>demoReach_IIT_ISR_LeftHand.xml</code>), one which moves just the head (<code>demoReach_IIT_ISR_NoHand.xml</code>) and one which only starts the tracker, so it moves nothing (<code>demoReach_IIT_ISR_JustTracker.xml</code>).
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| * you still need to set the camera parameters using framegrabberGui, we're trying to make that automatic.
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| === Pausing the Ball Following demo ===
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| You can do this by disconnecting two ports (and connecting them again when you want to resume the demo).
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| Note that this will only stop the positions from being sent to the inverse kinematics module (and thus, almost always, it will stop the robot). The rest of the processes (e.g., the tracker) will keep running.
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| * Pause (from any machine)
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| yarp disconnect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i
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| * Resume (from any machine)
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| yarp connect /icub/LeftEyeToRoot/ballPositionOut /iKinArmCtrl/right_arm/xd:i
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| === Quitting the Ball Following demo ===
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| * Disconnect all ports. Careful: this will stop the robot.
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| cd 13.FIL
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| ./7.disconnect_all.sh
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| * Quit/Kill the processes of the demo, in any order.
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