These pages comprises the WIKI for the course Robot Experimentarium. The knowledge described here are of generel use for students following this course.
Link to old course specific 2008 home page.
Tips and Tricks:
- Tips & Tricks : Network Problems on Robot Laptops
- Tips & Tricks : Compilation Problems
- Tips & Tricks : Installation of Player / Stage on your own machine
- Tips & Tricks : Compilation of the ERSP-Player driver
- Tips & Tricks : ERSP and Player mini-FAQ
- Tips & Tricks : OLD Exercise 2
- Tips & Tricks : OLD Exercise 3
- Tips & Tricks : OLD Exercise 4 & 5
- Tips & Tricks : Visualizing FCL files
This year we'll be using the Evolution Scorpion Robots. For controlling the robot hardware we'll be using ERSP and Player / Stage, and for image processesing we'll be using OpenCV. When using Player you have to use our in-house developed Player / Stage driver. The documentation can be found here and notes on further development may be found here.
To use the robot you will need access to a computer with Player and ERSP installed. We have 6 such laptops that you need to share. Laptops will be handed out to groups and the group members will have to figure out how to share.
If you're having any problems with the laptops for the robots, please contact Kim Steenstrup Pedersen. You can also report you problems at our Absalon page in the discussion forum.
Player Server Running in VMware
Connecting to Player Server Running in VMware from the Same Machine
For the Lenovo laptops you have to run the Player server inside a VMware virtual machine. Assuming the guest OS (the virtual machine running the Player server) has IP address 192.168.240.129 then you can connect a Player client program running on the host OS by using the following initialization code in your program
using namespace PlayerCc; PlayerClient robot("192.168.240.129");
Alternatively, you can make an SSH tunnel from the host OS to the guest OS, similarly to that explain in the next section.
Connecting to Player Server Running in VMware from another Machine
If you wish to connect to this Player server from a different computer, you can create a SSH tunnel and connect your Player client to it. Specifically, assume the host OS of the machine running VMware has IP address 192.168.15.43, and the guest OS on the same machine has IP address 192.168.240.129. On the machine where your client runs, perform the following:
ssh -L 6665:192.168.240.129:6665 192.168.15.43 -l diku -N
and provide the well-known password for the 'diku' user. Then you will be able to connect your Player client to localhost port 6665. Remember to start the Player server inside the guest OS.
The robotics platform used at the core of our robots is called ERSP (Evolution Robotics Software Platform). You can find a short tutorial on how the platform works here.
The robotics platform actually used for the Scorpion robots on this course is called Player/Stage. We are due to compatibility issues forced to use Player version 2.0.4 and 2.0.5 on the laptops, and if you want to install Player on your own machine we recommend you install on of these versions. We also recommend that you install Stage version 2.0.3 instead of the latest version. Documentation for Player/Stage can be found here and documentation of the DIKU ERSP Player driver can be found here.
You find some tips and tricks for installation of Player on your own machines in Tips & Tricks : Installation of Player / Stage on your own machine.
Furthermore, you find some tips and tricks on compilation of the ERSP-player driver in Tips & Tricks : Compilation of the ERSP-Player driver.
For image processesing we use the OpenCV library (on the laptops we have the old version 1.0.0 installed). The OpenCV wiki is the place to find help and it includes online reference manuals. We also have a short tutorial on OpenCV.
The Scorpion Robot Camera
The Scorpion robots use a Logitech Quickcam Pro 3000 webcam to acquire images. The internal parameters of this camera can be changed since it uses the pwc driver.
The camera has been calibrated to compensate for the Barrel distortion. See Kalibrering af Scorpion robotternes kamera (in Danish).
If you need to track an objects position in an image sequence, you can use the Two Stage Hybrid Tracker.