Innovation Days 2009/Archive

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.

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