La parti showImage de opencv marche ne marche pas directement sur Nao.
Pour installer l'interface python opencv il suffit de copier le repertoire:
ctc-academics-1.3.13\staging\i486-linux\usr\lib\python2.5\site-packages\opencv
vers:
/usr/lib/python2.5/site-packages/
Neanmois il reste un probleme si on execute directment sur Nao. L'image est deformee. Il me semble qu'il y un 'offset' dans les donnees de l'image.
]]>
La parti showImage de opencv marche ne marche pas directement sur Nao.
Pour installer l'interface python opencv il suffit de copier le repertoire:
ctc-academics-1.3.13\staging\i486-linux\usr\lib\python2.5\site-packages\opencv
vers:
/usr/lib/python2.5/site-packages/
Neanmois il reste un probleme si on execute directment sur Nao. L'image est deformee. Il me semble qu'il y un 'offset' dans les donnees de l'image.
]]>
Firstly, open the visual C++ and create a new project in the normal way. Then go to "Project properties" menu (Alt+F7):
1. Go to "Property Pages" -> "C/C++" -> "Additional Include Directories" and add some paths to the include folder as follows:
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\modules\proxies
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\include
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\rttools\include
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\alcommon\include
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\alcommon\interface
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\alcommon\soap
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\include
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\src\tinyxml
2. Go to Linker->Additional Dependencies and add some paths as follows:
kernel32.lib
user32.lib
gdi32.lib
winspool.lib
shell32.lib
ole32.lib
oleaut32.lib
uuid.lib
comdlg32.lib
advapi32.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\libboost_thread-vc80-mt-1_38.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\libboost_filesystem-vc80-mt-1_38.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\libboost_signals-vc80-mt-1_38.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\libboost_program_options-vc80-mt-1_38.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\rttools\lib\rttools.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\alcommon\lib\windows\alcommon.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\pthread.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\tinyxml.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\highgui.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\cxcore.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\cvaux.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\cv.lib
3. Go to the code source and add the line
#ifndef NAO_GRETA_IS_REMOTE_OFF
..
your code
..
#endif
Ok, you can press F7 to complie your project successfully now.
Goodluck!
]]>
Firstly, open the visual C++ and create a new project in the normal way. Then go to "Project properties" menu (Alt+F7):
1. Go to "Property Pages" -> "C/C++" -> "Additional Include Directories" and add some paths to the include folder as follows:
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\modules\proxies
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\include
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\rttools\include
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\alcommon\include
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\alcommon\interface
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\alcommon\soap
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\include
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\src\tinyxml
2. Go to Linker->Additional Dependencies and add some paths as follows:
kernel32.lib
user32.lib
gdi32.lib
winspool.lib
shell32.lib
ole32.lib
oleaut32.lib
uuid.lib
comdlg32.lib
advapi32.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\libboost_thread-vc80-mt-1_38.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\libboost_filesystem-vc80-mt-1_38.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\libboost_signals-vc80-mt-1_38.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\libboost_program_options-vc80-mt-1_38.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\rttools\lib\rttools.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\aldebaran\alcommon\lib\windows\alcommon.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\pthread.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\tinyxml.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\highgui.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\cxcore.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\cvaux.lib
C:\NaoQiAcademicsvc80-1.3.17-win32\NaoQiAcademicsvc80-1.3.17-win32\extern\c\windows\lib\cv.lib
3. Go to the code source and add the line
#ifndef NAO_GRETA_IS_REMOTE_OFF
..
your code
..
#endif
Ok, you can press F7 to complie your project successfully now.
Goodluck!
]]>Today, I will show you how to do. Take the program MotionExample in the NaoSdk for moving the head of robot as an example to illustrate this lesson, we will see that proxies will be used to access modules. In order to access the created module "ALSetAnglesExamples", a proxy is created in the Python language as follows:
setAnglesExamplesProxy = ALProxy("ALSetAnglesExamples")
that will be corresponding to VC++:
ALProxy setAnglesExamplesProxy = ALProxy("ALSetAnglesExamples", parentBrokerIP, parentBrokerPort);
and in order to access others modules availables in the library of Aldebaran, a proxy is created in the Python language as follows:
motionProxy = ALProxy("ALMotion")
that will be corresponding to VC++:
ALProxy motionProxy = ALProxy("ALMotion", parentBrokerIP, parentBrokerPort);
Now, we will call some necessary modules to make moving the head of robot. Firstly, set the stiffness of head to full control:
motionProxy.setChainStiffness('Head',1.0,1.0);
after that, set a time delay to finish this task.
time.sleep(2)
That will be corresponding to the VC++:
motionProxy.callVoid("setChainStiffness",string("Head"),1.0,1.0);
SleepMs(2000);
Call the function in the user module:
setAnglesExamplesProxy.startdemo1()
and wait function is finish
time.sleep (6)
This will be corresponding to VC++:
setAnglesExamplesProxy.callVoid("startdemo1");
SleepMs (6000);
Do the rest in the same way, we have:
// Do the Same Job in remote with TCPConnection as soon as possible and See the problem of Synchronization
std::cout << "ALSetAnglesExamples : Remote with TCP Connection" << std::endl;
double HeadPitchPosition = motionProxy.call<double>("getAngle",string("HeadPitch"));
int Sign = 1;
for(int i = 0; i<250; i++){
if (HeadPitchPosition >= 0.5 && Sign == 1)
Sign = -1;
else if (HeadPitchPosition <= -0.5 && Sign == -1)
Sign = 1;
HeadPitchPosition = HeadPitchPosition + Sign * 0.01;
motionProxy.callVoid("setAngle",string("HeadPitch"),HeadPitchPosition );
}
// Put Head Stifnness to 0.0
motionProxy.callVoid("setChainStiffness",string("Head"),0.0,1.0);
SleepMs(2000);
Ok, we have a complete program in Visual C++
]]>
Today, I will show you how to do. Take the program MotionExample in the NaoSdk for moving the head of robot as an example to illustrate this lesson, we will see that proxies will be used to access modules. In order to access the created module "ALSetAnglesExamples", a proxy is created in the Python language as follows:
setAnglesExamplesProxy = ALProxy("ALSetAnglesExamples")
that will be corresponding to VC++:
ALProxy setAnglesExamplesProxy = ALProxy("ALSetAnglesExamples", parentBrokerIP, parentBrokerPort);
and in order to access others modules availables in the library of Aldebaran, a proxy is created in the Python language as follows:
motionProxy = ALProxy("ALMotion")
that will be corresponding to VC++:
ALProxy motionProxy = ALProxy("ALMotion", parentBrokerIP, parentBrokerPort);
Now, we will call some necessary modules to make moving the head of robot. Firstly, set the stiffness of head to full control:
motionProxy.setChainStiffness('Head',1.0,1.0);
after that, set a time delay to finish this task.
time.sleep(2)
That will be corresponding to the VC++:
motionProxy.callVoid("setChainStiffness",string("Head"),1.0,1.0);
SleepMs(2000);
Call the function in the user module:
setAnglesExamplesProxy.startdemo1()
and wait function is finish
time.sleep (6)
This will be corresponding to VC++:
setAnglesExamplesProxy.callVoid("startdemo1");
SleepMs (6000);
Do the rest in the same way, we have:
// Do the Same Job in remote with TCPConnection as soon as possible and See the problem of Synchronization
std::cout << "ALSetAnglesExamples : Remote with TCP Connection" << std::endl;
double HeadPitchPosition = motionProxy.call<double>("getAngle",string("HeadPitch"));
int Sign = 1;
for(int i = 0; i<250; i++){
if (HeadPitchPosition >= 0.5 && Sign == 1)
Sign = -1;
else if (HeadPitchPosition <= -0.5 && Sign == -1)
Sign = 1;
HeadPitchPosition = HeadPitchPosition + Sign * 0.01;
motionProxy.callVoid("setAngle",string("HeadPitch"),HeadPitchPosition );
}
// Put Head Stifnness to 0.0
motionProxy.callVoid("setChainStiffness",string("Head"),0.0,1.0);
SleepMs(2000);
Ok, we have a complete program in Visual C++
]]>
Accès limité aux 5 membres du groupe.
drack - lexa - tibot - zelig - ksan
]]>
Owner: zelig
Group members: 5
Group type:
Description:
Groupe BYNTeam pour le superchallenge.
Accès limité aux 5 membres du groupe.
drack - lexa - tibot - zelig - ksan
Brief description:
Tags:
Website:
Accès limité aux 5 membres du groupe.
drack - lexa - tibot - zelig - ksan
]]>
Owner: zelig
Group members: 5
Group type:
Description:
Groupe BYNTeam pour le superchallenge.
Accès limité aux 5 membres du groupe.
drack - lexa - tibot - zelig - ksan
Brief description:
Tags:
Website:
Owner: Laurent
Group members: 6
Group type:
Description:
Ce groupe est cree dans le but de faire une clef USB bootable sur une distribution Linux (Ubuntu) comportant tous ce qui est necessaire pour programmer/mettre à jour Nao.
Brief description:
Tags:
Website:
Owner: Laurent
Group members: 6
Group type:
Description:
Ce groupe est cree dans le but de faire une clef USB bootable sur une distribution Linux (Ubuntu) comportant tous ce qui est necessaire pour programmer/mettre à jour Nao.
Brief description:
Tags:
Website:
A accès limité aux propriétaires de nao (academics, robocup, beta testers, Edition llimitée) ce groupe sera ouvert à la sortie GP de nao.
]]>
Owner: zelig
Group members: 13
Group type:
Description:
Ce groupe est créé dans le but de faire des tutoriels texte et screencast (tuto video).
A accès limité aux propriétaires de nao (academics, robocup, beta testers, Edition llimitée) ce groupe sera ouvert à la sortie GP de nao.
Brief description: Création de tuto pour le développement et l'utilisation de nao
Tags:
Website:
A accès limité aux propriétaires de nao (academics, robocup, beta testers, Edition llimitée) ce groupe sera ouvert à la sortie GP de nao.
]]>
Owner: zelig
Group members: 13
Group type:
Description:
Ce groupe est créé dans le but de faire des tutoriels texte et screencast (tuto video).
A accès limité aux propriétaires de nao (academics, robocup, beta testers, Edition llimitée) ce groupe sera ouvert à la sortie GP de nao.
Brief description: Création de tuto pour le développement et l'utilisation de nao
Tags:
Website:
Owner: RobotMommy
Group members: 3
Group type:
Description:
A little group for all NAO fans who love to portray their beloved little robot on paper :)
Brief description:
Website:
Owner: RobotMommy
Group members: 3
Group type:
Description:
A little group for all NAO fans who love to portray their beloved little robot on paper :)
Brief description:
Website: