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.

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