Changes between Version 10 and Version 11 of Old/Dailyupdates

Timestamp:

Jun 11, 2007, 9:49:48 PM (17 years ago)

Author:

aniket

Comment:

—

Old/Dailyupdates

@@ -86 +86 @@
 
 I have been able to successfully run ''run_client_gui'' a few times now, with all three peripherals functioning. I believe udev was a large part of the problem, but it is also important that the devices are plugged in in the manner described above.
+
+I've now used the navtool application successfully several times, and believe the trick is all in the order of testing peripherals. As far as I can tell, if this sequence is followed, the navigation tool will work:
+-Plug in motor and IR sensors to hub
+-Plug in hub to side USB port
+-Plug in Camera to back USB port
+-Run ''test_battery'' and ''test_range_sensors''
+-Run ''test_camera''
+-Run ''run_slam_explore''
+-Simultaneously, run ''run_client_gui''
+
+At the present time, Mobile 33 works well when these steps are followed. Mobile 37 is temporarily out of commision, but we hope to have a clone of Mobile 33's drive installed early tomorrow. The disk image will be created overnight.
+
+One of the next things I would like to do is calibrate the camera and odometry systems. The odometry system demands a joystick, which we do not have yet but Ivan has given the go ahead to order one. There are two calibration tools for the camera, an intrinsic and an extrinsic. The intrinsic calibration deals with parameters of the camera itself, whereas the extrinsic calibration involves the camera's positioning on the robot.
+
+I experimented with ''calibrate_camera_intrinsic'' today. The program involves taping a checkerboard printout to a flat surface (one of the pillars in orbit) and positioning the camera in such a way that the software can recognize the squares and corners. Several pictures from different angles need to be taken to calibrate the camera well. We experienced much difficulty getting the software to recognize the shapes, some of which seem to involve the room's lighting. After playing with different distances from the image, and different ambient lighting scenarios, I was able to take one successful calibration image. I hope to take several more tomorrow.
+
+I'd like to set some goals for this week. First off, I would like to complete calibration for both robots and have them wandering around successfully using ''navtool''. Additionally, I would like for us to write some of our own code, either in c++ or python, that uses the obstacle avoidance feature successfully.