Rsewiki - User contributions [en]

UASTA

2021-06-15T16:31:30Z

Davwu: /* Usage */

== Installations ==

...

== Usage ==

=== uASTA with Loco Positioning System (ultra-wide band) ===

[[File:Intro to uasta thumbnail.png|200px|thumb|left|[[https://youtu.be/cjsaF6WJqHI https://youtu.be/cjsaF6WJqHI]]]]

N = number that identifies your Crazyflie

* Startup your Crazyflie while facing the x direction

* Start a ROS server for your Crazyflie:

<code> cfstart N </code>

* Check the current level of the battery (it should be above 3.8):

<code> battery </code>

* Check that the position estimate is stable in RViZ:

<code> rviz </code>

* Run you code in Simulink

=== uASTA with Optitrack (motion capture system) ===

N = number that identifies your Crazyflie

* Startup your Crazyflie while facing the x direction

* Start a ROS server for your Crazyflie:

<code> cfstart N </code>

* Check the current level of the battery (it should be above 3.8):

<code> battery </code>

* Start an Optitrack server for you Crazyflie:

<code> optitrack N </code>

Troubleshooting: the markers mounted on your Crazyflied have to be registered as a rigid body called cfN (e.g., cf12) on the Optitrack computer in the central cabin. See [[ASTA_motion_capture]] for more information.

* Check that the position estimate is stable in RViZ:

<code> rviz </code>

* Run you code in Simulink

UASTA

2021-06-15T16:08:56Z

Davwu: /* Usage */

== Installations ==

...

== Usage ==

=== uASTA with Loco Positioning System (ultra-wide band) ===

[[File:Intro to uasta thumbnail.png|200px|thumb|left|[[https://youtu.be/cjsaF6WJqHI https://youtu.be/cjsaF6WJqHI]]]]

N = number that identifies your Crazyflie

* Start a ROS server for your Crazyflie:

<code> cfstart N </code>

* Check the current level of the battery (it should be above 3.8):

<code> battery </code>

* Check that the position estimate is stable in RViZ:

<code> rviz </code>

* Run you code in Simulink

=== uASTA with Optitrack (motion capture system) ===

N = number that identifies your Crazyflie

* Start a ROS server for your Crazyflie:

<code> cfstart N </code>

* Check the current level of the battery (it should be above 3.8):

<code> battery </code>

* Start an Optitrack server for you Crazyflie:

<code> optitrack N </code>

Troubleshooting: the markers mounted on your Crazyflied have to be registered as a rigid body called cfN (e.g., cf12) on the Optitrack computer in the central cabin. See [[ASTA_motion_capture]] for more information.

* Check that the position estimate is stable in RViZ:

<code> rviz </code>

* Run you code in Simulink

UASTA

2021-06-15T15:58:15Z

Davwu: /* Usage */

UASTA

2021-06-06T21:38:06Z

Davwu: /* Usage */

== Installations ==

...

== Usage ==

[[File:Intro to uasta thumbnail.png|200px|thumb|left|[[https://youtu.be/cjsaF6WJqHI https://youtu.be/cjsaF6WJqHI]]]]

File:Intro to uasta thumbnail.png

2021-06-06T21:33:13Z

Davwu:

UASTA

2021-06-02T14:38:08Z

Davwu: Created page with " == Installations == ... == Usage == ..."

== Installations ==

...

== Usage ==

...

Main Page

2021-06-02T14:37:25Z

Davwu: /* Facilities */

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issues related to robotics research.

= Facilities =

* [[ASTA|Autonomous System Testing Arena (ASTA)]]

* [[ASTA motion capture|Motion capture (Optitrack)]]

* [[uASTA|μASTA]]

* [[Lipo Safety | Lipo safety]]

= Mobotware =

(Mobile Robot software)

* [[AU Robot Servers]] (AURS) includes servers for soft real-time processing, e.g.: camera and laser scanner processing.

* [[RHD]] (Robot Hardware Daemon) is the hardware abstraction layer, with interface to real-time sensors and actuators.

* MRC - see SMR below - is the real-time movement control (and mission control using the SMR-CL language)

[[Version and download]]

[[Automated test setup]]

= Robots =

[[SMR]] (Small Mobile Robot)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[UR5]] (Universal Robot UR5 Arm)

[[UR10]] (Universal Robot UR10 Arm)

[[Fieldrobot]] (Fieldrobot)

[[iRobot ATRV-Jr]]

[[TerrainHopper]]

[[Labyrinth]] (Labyrinth game)

[[regbot]] (small robot intended as control-1 exercise)

[[robobot]] an extension to regbot with a raspberry pi and an extra wheel

[[flexbot]] design work to get a flexible stair climbing robot

[[SimServer]] Stage based multi robot simulator

[[Drone control]] drone base control

=== Other projects===

[[DTU running path dataset]]

[[Mini40 force/torque sensor]]

[[Robotiq gripper]]

[[Visual Tracking on Pixhawk]] (Position estimation of Pixhawk flight controller with external camera)

[[3D localization]] based on sensor network

[[Magnetic Navigation]] sensor

[[robocup]]

[[inspection robot]] (4/6-legged robot)

[[3D printer]] Zortrax M300

= Linux system considerations =

[[Switchtool]] - Shift Mobotware version - earlier, newer or the one locally on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Authenticating Linux clients against MS Active Directory]]

[[Using GDB for coredump]]

====Older pages====

[[Ubuntu 32-bit or 64-bit]]

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[hexakopter]] (notes for six-rotor helicopter including the pixhawk autopilot)

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install on raspberry]] - install Mobotware on raspbian (NOOBS) or a Debian based Linux on Beagle-bone.

[[Install Universal Robots simulator on lab PC]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

[[Notes on compiling augclient]] - GUI interface for Mobotware used fx. in AGCO project

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

[[How to make a animation from separate images]]

[[Citrix access to DTU files and Windows Apps]] (Using Citrix Receiver, preferred way from 2015+)

[[Latex]] where to put document class files in ubuntu installation

====older pages====

[[RoboCup]] - bl.a. scoreboard - not maintained

[[AU software license considerations]]

[[Robot GUI (MARG)]] - (no longer maintained)

[[Install GUI-less UBUNTU]] - new boot disk image for robots

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]

[[Inverted pendulum]]

ASTA Crazyflie Cage

2021-06-02T14:34:41Z

Davwu: Created page with " == Crazyflie Cage =="

== Crazyflie Cage ==

Main Page

2021-06-02T14:34:13Z

Davwu: /* Facilities */

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issues related to robotics research.

= Facilities =

* [[ASTA|Autonomous System Testing Arena (ASTA)]]

* [[ASTA motion capture|Motion capture (Optitrack)]]

* [[ASTA Crazyflie Cage|Crazyflie Cage]]

* [[Lipo Safety | Lipo safety]]

= Mobotware =

(Mobile Robot software)

* [[AU Robot Servers]] (AURS) includes servers for soft real-time processing, e.g.: camera and laser scanner processing.

* [[RHD]] (Robot Hardware Daemon) is the hardware abstraction layer, with interface to real-time sensors and actuators.

* MRC - see SMR below - is the real-time movement control (and mission control using the SMR-CL language)

[[Version and download]]

[[Automated test setup]]

= Robots =

[[SMR]] (Small Mobile Robot)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[UR5]] (Universal Robot UR5 Arm)

[[UR10]] (Universal Robot UR10 Arm)

[[Fieldrobot]] (Fieldrobot)

[[iRobot ATRV-Jr]]

[[TerrainHopper]]

[[Labyrinth]] (Labyrinth game)

[[regbot]] (small robot intended as control-1 exercise)

[[robobot]] an extension to regbot with a raspberry pi and an extra wheel

[[flexbot]] design work to get a flexible stair climbing robot

[[SimServer]] Stage based multi robot simulator

[[Drone control]] drone base control

=== Other projects===

[[DTU running path dataset]]

[[Mini40 force/torque sensor]]

[[Robotiq gripper]]

[[Visual Tracking on Pixhawk]] (Position estimation of Pixhawk flight controller with external camera)

[[3D localization]] based on sensor network

[[Magnetic Navigation]] sensor

[[robocup]]

[[inspection robot]] (4/6-legged robot)

[[3D printer]] Zortrax M300

= Linux system considerations =

[[Switchtool]] - Shift Mobotware version - earlier, newer or the one locally on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Authenticating Linux clients against MS Active Directory]]

[[Using GDB for coredump]]

====Older pages====

[[Ubuntu 32-bit or 64-bit]]

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[hexakopter]] (notes for six-rotor helicopter including the pixhawk autopilot)

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install on raspberry]] - install Mobotware on raspbian (NOOBS) or a Debian based Linux on Beagle-bone.

[[Install Universal Robots simulator on lab PC]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

[[Notes on compiling augclient]] - GUI interface for Mobotware used fx. in AGCO project

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

[[How to make a animation from separate images]]

[[Citrix access to DTU files and Windows Apps]] (Using Citrix Receiver, preferred way from 2015+)

[[Latex]] where to put document class files in ubuntu installation

====older pages====

[[RoboCup]] - bl.a. scoreboard - not maintained

[[AU software license considerations]]

[[Robot GUI (MARG)]] - (no longer maintained)

[[Install GUI-less UBUNTU]] - new boot disk image for robots

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]

[[Inverted pendulum]]

ASTA motion capture

2021-02-08T17:18:44Z

Davwu: /* Streaming data */

== Optitrack's official wiki ==

[https://v22.wiki.optitrack.com v22.wiki.optitrack.com]

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Repetability: < 1 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Start up ==

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug laying on the computer's frame.

== Daily calibration ==

1. Start Motive.

[[File:ASTA Motive Desktop.png|100px]]

2. Make sure that no reflectors (or reflecting surfaces) are present in the capture volume.

[[File:ASTA Motive Wanding.png|600px]]

3. Find the calibration pane on the left-hand side

4. Press "Clear Mask"

5. Press "Mask Visible"

6. Press "Start Wanding"

''' If the number of cameras listed under "Wanding" doesn't total to 16 (the numbering doesn't matter), restart Motive and repeat steps 3-6. '''

7. Find the calibration wand hanging on the right-hand side of the computer.

8. Walk the wand through the capture volume at a speed of 1 m/s. Draw a circle right above the surface of the pool.

[[File:ASTA_Optitrack_Calibration_Pool.jpg|600px]]

9. Draw another circle right above the ground on the remaining area.

[[File:ASTA_Optitrack_Calibration_Low.jpg|600px]]

10. Draw a third circle higher up.

[[File:ASTA_Optitrack_Calibration_High.jpg|600px]]

11. Walk back to the central shed, hang the wand where it was, come back to the motion capture computer, and press "Calculate". The result should be at least "Great", and ideally, "Exceptional".

[[File:Exceptional.png|600px]]

12. If it is the case, press "Apply". Otherwise, repeat steps 6-11.

''' If the calibration keeps being insufficient, restart Motive and repeat steps 3-11'''

13. Fing the L-shaped calibration square on the left-hand side of the computer, and lay it at the center of the capture volume using the white pieces of tapes as guides.

[[File:ASTA_Optitrack_Calibration_Square.jpg|600px]]

14. Make sure that the calibration square is leveled by looking at the bubble levels. If it's not the case, adjust the height of the legs.

[[File:ASTA_Optitrack_Calibration_Bubble_Level.jpg|600px]]

15. Come back to the motion capture computer, find the "Ground Plane" tab in the "Calibration" pane, and press "Set Ground Pane".

[[File:ASTA_Optitrack_Calibration_Ground_Plane.png|600px]]

== Adding an asset ==

1. Attach at least 4 markers to the robot (the more, the better) while avoiding symmetries.

2. Place the robot next to the origin with its body axis parallel to the fixed axis.

3. In Motive, select all the markers associated with the robot, right-click, and select "Rigid Body" > "Create From Selected Markers".

[[File:ASTA_Motive_Create.png|600px]]

== Streaming data ==

1. Find the "Streaming" pane and enable "VRPN" for use with ROS clients and "Optitrack" for use with "NatNet" clients.

[[File:ASTA_Motive_Streaming.png|600px]]

That will enable streaming on the following two networks: ''asta_optitrack'' and ''asta_optitrack_5GHz''.
Please contact [davwu@dtu.dk] for authentication information and administration.

'''WARNING: If a remote controller uses the same frequency as the wifi network, there might be collisions. Make sure to use the 5GHz wifi if a remote operates on 2.4 GHz and vice-versa.'''

[[File:ASTA_Optitrack_Router.jpg|600px]]

=== Using ROS clients ===

2. In Ubuntu 18.04 (ROS Melodic) or Ubuntu 20.04 (ROS Noetic), fire up a terminal and install ASTA's ROS workspace collection:

git clone https://github.com/DavidWuthier/asta_workspace_setup.git
cd asta_workspace_setup
sudo chmod +x asta_workspace_setup.sh
./asta_workspace_setup.sh

3. Chain your current workspace to the VRPN workspace:

cd /path/to/your/current/workspace
catkin config --extend ~/asta_ws/vrpn_ws/devel
catkin clean -y
catkin build

4. Launch the client with the server address that can be found under "Local Interface" in the "Streaming" pane:

roslaunch vrpn_client_ros sample.launch server:=192.168.1.225

=== Using NatNet clients (C++ on Ubuntu or C/C++/C#/VB/.Net/Matlab on Windows) ===

2. Download the [https://optitrack.com/software/natnet-sdk/ NatNet SDK] and check out the examples.

== Archive (in case the system needs to be reassembled) ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut 1 m length of 8 mm nylon rope
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

File:ASTA Optitrack Router.jpg

2021-02-08T17:17:14Z

Davwu:

ASTA motion capture

2021-02-08T17:12:31Z

Davwu: /* Streaming data */

== Optitrack's official wiki ==

[https://v22.wiki.optitrack.com v22.wiki.optitrack.com]

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Repetability: < 1 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Start up ==

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug laying on the computer's frame.

== Daily calibration ==

1. Start Motive.

[[File:ASTA Motive Desktop.png|100px]]

2. Make sure that no reflectors (or reflecting surfaces) are present in the capture volume.

[[File:ASTA Motive Wanding.png|600px]]

3. Find the calibration pane on the left-hand side

4. Press "Clear Mask"

5. Press "Mask Visible"

6. Press "Start Wanding"

''' If the number of cameras listed under "Wanding" doesn't total to 16 (the numbering doesn't matter), restart Motive and repeat steps 3-6. '''

7. Find the calibration wand hanging on the right-hand side of the computer.

8. Walk the wand through the capture volume at a speed of 1 m/s. Draw a circle right above the surface of the pool.

[[File:ASTA_Optitrack_Calibration_Pool.jpg|600px]]

9. Draw another circle right above the ground on the remaining area.

[[File:ASTA_Optitrack_Calibration_Low.jpg|600px]]

10. Draw a third circle higher up.

[[File:ASTA_Optitrack_Calibration_High.jpg|600px]]

11. Walk back to the central shed, hang the wand where it was, come back to the motion capture computer, and press "Calculate". The result should be at least "Great", and ideally, "Exceptional".

[[File:Exceptional.png|600px]]

12. If it is the case, press "Apply". Otherwise, repeat steps 6-11.

''' If the calibration keeps being insufficient, restart Motive and repeat steps 3-11'''

13. Fing the L-shaped calibration square on the left-hand side of the computer, and lay it at the center of the capture volume using the white pieces of tapes as guides.

[[File:ASTA_Optitrack_Calibration_Square.jpg|600px]]

14. Make sure that the calibration square is leveled by looking at the bubble levels. If it's not the case, adjust the height of the legs.

[[File:ASTA_Optitrack_Calibration_Bubble_Level.jpg|600px]]

15. Come back to the motion capture computer, find the "Ground Plane" tab in the "Calibration" pane, and press "Set Ground Pane".

[[File:ASTA_Optitrack_Calibration_Ground_Plane.png|600px]]

== Adding an asset ==

1. Attach at least 4 markers to the robot (the more, the better) while avoiding symmetries.

2. Place the robot next to the origin with its body axis parallel to the fixed axis.

3. In Motive, select all the markers associated with the robot, right-click, and select "Rigid Body" > "Create From Selected Markers".

[[File:ASTA_Motive_Create.png|600px]]

== Streaming data ==

1. Find the "Streaming" pane and enable "VRPN" for use with ROS clients and "Optitrack" for use with "NatNet" clients.

[[File:ASTA_Motive_Streaming.png|600px]]

That will enable streaming on the following two networks: ''asta_optitrack'' and ''asta_optitrack_5GHz''.
Please contact [davwu@dtu.dk] for authentication information and administration.

'''WARNING: If a remote controller uses the same frequency as the wifi network, there might be collisions. Make sure to use the 5GHz wifi if a remote operates on 2.4 GHz and vice-versa.'''

=== Using ROS clients ===

2. In Ubuntu 18.04 (ROS Melodic) or Ubuntu 20.04 (ROS Noetic), fire up a terminal and install ASTA's ROS workspace collection:

git clone https://github.com/DavidWuthier/asta_workspace_setup.git
cd asta_workspace_setup
sudo chmod +x asta_workspace_setup.sh
./asta_workspace_setup.sh

3. Chain your current workspace to the VRPN workspace:

cd /path/to/your/current/workspace
catkin config --extend ~/asta_ws/vrpn_ws/devel
catkin clean -y
catkin build

4. Launch the client with the server address that can be found under "Local Interface" in the "Streaming" pane:

roslaunch vrpn_client_ros sample.launch server:=192.168.1.225

=== Using NatNet clients (C++ on Ubuntu or C/C++/C#/VB/.Net/Matlab on Windows) ===

2. Download the [https://optitrack.com/software/natnet-sdk/ NatNet SDK] and check out the examples.

== Archive (in case the system needs to be reassembled) ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut 1 m length of 8 mm nylon rope
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

Lipo Safety

2021-02-01T22:18:39Z

Davwu: Created page with " 600px 600px 600px"

[[File:Lipo_Safety_ASTA.jpg|600px]]

[[File:Lipo_Safety_Basement.jpg|600px]]

[[File:Lipo_Safety_Thesis_Lab.jpg|600px]]

File:Lipo Safety Basement.jpg

2021-02-01T22:17:43Z

Davwu: Davwu uploaded a new version of "File:Lipo Safety Basement.jpg"

File:Lipo Safety ASTA.jpg

2021-02-01T22:17:25Z

Davwu: Davwu uploaded a new version of "File:Lipo Safety ASTA.jpg"

File:Lipo Safety Thesis Lab.jpg

2021-02-01T22:15:05Z

Davwu: Davwu uploaded a new version of "File:Lipo Safety Thesis Lab.jpg"

File:Lipo Safety Thesis Lab.jpg

2021-02-01T22:11:37Z

Davwu:

File:Lipo Safety Basement.jpg

2021-02-01T22:11:14Z

Davwu:

File:Lipo Safety ASTA.jpg

2021-02-01T22:10:52Z

Davwu:

Main Page

2021-02-01T22:05:43Z

Davwu: /* Facilities */

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issues related to robotics research.

= Facilities =

* [[ASTA|Autonomous System Testing Arena (ASTA)]]

* [[ASTA motion capture|Motion capture (Optitrack)]]

* [[Lipo Safety | Lipo safety]]

= Mobotware =

(Mobile Robot software)

* [[AU Robot Servers]] (AURS) includes servers for soft real-time processing, e.g.: camera and laser scanner processing.

* [[RHD]] (Robot Hardware Daemon) is the hardware abstraction layer, with interface to real-time sensors and actuators.

* MRC - see SMR below - is the real-time movement control (and mission control using the SMR-CL language)

[[Version and download]]

[[Automated test setup]]

= Robots =

[[SMR]] (Small Mobile Robot)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter including the pixhawk autopilot)

[[UR5]] (Universal Robot UR5 Arm)

[[UR10]] (Universal Robot UR10 Arm)

[[Fieldrobot]] (Fieldrobot)

[[iRobot ATRV-Jr]]

[[TerrainHopper]]

[[Labyrinth]] (Labyrinth game)

[[regbot]] (small robot intended as control-1 exercise)

[[robobot]] an extension to regbot with a raspberry pi and an extra wheel

[[flexbot]] design work to get a flexible stair climbing robot

[[SimServer]] Stage based multi robot simulator

[[Drone control]] drone base control

=== Other projects===

[[DTU running path dataset]]

[[Mini40 force/torque sensor]]

[[Robotiq gripper]]

[[Visual Tracking on Pixhawk]] (Position estimation of Pixhawk flight controller with external camera)

[[3D localization]] based on sensor network

[[Magnetic Navigation]] sensor

[[robocup]]

[[inspection robot]] (4/6-legged robot)

[[3D printer]] Zortrax M300

= Linux system considerations =

[[Switchtool]] - Shift Mobotware version - earlier, newer or the one locally on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Authenticating Linux clients against MS Active Directory]]

[[Using GDB for coredump]]

====Older pages====

[[Ubuntu 32-bit or 64-bit]]

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install on raspberry]] - install Mobotware on raspbian (NOOBS) or a Debian based Linux on Beagle-bone.

[[Install Universal Robots simulator on lab PC]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

[[Notes on compiling augclient]] - GUI interface for Mobotware used fx. in AGCO project

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

[[How to make a animation from separate images]]

[[Citrix access to DTU files and Windows Apps]] (Using Citrix Receiver, preferred way from 2015+)

[[Latex]] where to put document class files in ubuntu installation

====older pages====

[[RoboCup]] - bl.a. scoreboard - not maintained

[[AU software license considerations]]

[[Robot GUI (MARG)]] - (no longer maintained)

[[Install GUI-less UBUNTU]] - new boot disk image for robots

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]

[[Inverted pendulum]]

ASTA motion capture

2021-02-01T21:54:35Z

Davwu: /* Optitrack's official wiki */

== Optitrack's official wiki ==

[https://v22.wiki.optitrack.com v22.wiki.optitrack.com]

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Repetability: < 1 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Start up ==

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug laying on the computer's frame.

== Daily calibration ==

1. Start Motive.

[[File:ASTA Motive Desktop.png|100px]]

2. Make sure that no reflectors (or reflecting surfaces) are present in the capture volume.

[[File:ASTA Motive Wanding.png|600px]]

3. Find the calibration pane on the left-hand side

4. Press "Clear Mask"

5. Press "Mask Visible"

6. Press "Start Wanding"

''' If the number of cameras listed under "Wanding" doesn't total to 16 (the numbering doesn't matter), restart Motive and repeat steps 3-6. '''

7. Find the calibration wand hanging on the right-hand side of the computer.

8. Walk the wand through the capture volume at a speed of 1 m/s. Draw a circle right above the surface of the pool.

[[File:ASTA_Optitrack_Calibration_Pool.jpg|600px]]

9. Draw another circle right above the ground on the remaining area.

[[File:ASTA_Optitrack_Calibration_Low.jpg|600px]]

10. Draw a third circle higher up.

[[File:ASTA_Optitrack_Calibration_High.jpg|600px]]

11. Walk back to the central shed, hang the wand where it was, come back to the motion capture computer, and press "Calculate". The result should be at least "Great", and ideally, "Exceptional".

[[File:Exceptional.png|600px]]

12. If it is the case, press "Apply". Otherwise, repeat steps 6-11.

''' If the calibration keeps being insufficient, restart Motive and repeat steps 3-11'''

13. Fing the L-shaped calibration square on the left-hand side of the computer, and lay it at the center of the capture volume using the white pieces of tapes as guides.

[[File:ASTA_Optitrack_Calibration_Square.jpg|600px]]

14. Make sure that the calibration square is leveled by looking at the bubble levels. If it's not the case, adjust the height of the legs.

[[File:ASTA_Optitrack_Calibration_Bubble_Level.jpg|600px]]

15. Come back to the motion capture computer, find the "Ground Plane" tab in the "Calibration" pane, and press "Set Ground Pane".

[[File:ASTA_Optitrack_Calibration_Ground_Plane.png|600px]]

== Adding an asset ==

1. Attach at least 4 markers to the robot (the more, the better) while avoiding symmetries.

2. Place the robot next to the origin with its body axis parallel to the fixed axis.

3. In Motive, select all the markers associated with the robot, right-click, and select "Rigid Body" > "Create From Selected Markers".

[[File:ASTA_Motive_Create.png|600px]]

== Streaming data ==

1. Find the "Streaming" pane and enable "VRPN" for use with ROS clients and "Optitrack" for use with "NatNet" clients.

[[File:ASTA_Motive_Streaming.png|600px]]

=== Using ROS clients ===

2. In Ubuntu 18.04 (ROS Melodic) or Ubuntu 20.04 (ROS Noetic), fire up a terminal and install ASTA's ROS workspace collection:

git clone https://github.com/DavidWuthier/asta_workspace_setup.git
cd asta_workspace_setup
sudo chmod +x asta_workspace_setup.sh
./asta_workspace_setup.sh

3. Chain your current workspace to the VRPN workspace:

cd /path/to/your/current/workspace
catkin config --extend ~/asta_ws/vrpn_ws/devel
catkin clean -y
catkin build

4. Launch the client with the server address that can be found under "Local Interface" in the "Streaming" pane:

roslaunch vrpn_client_ros sample.launch server:=192.168.1.225

=== Using NatNet clients (C++ on Ubuntu or C/C++/C#/VB/.Net/Matlab on Windows) ===

2. Download the [https://optitrack.com/software/natnet-sdk/ NatNet SDK] and check out the examples.

== Archive (in case the system needs to be reassembled) ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut 1 m length of 8 mm nylon rope
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

ASTA motion capture

2021-02-01T21:53:58Z

Davwu:

== Optitrack's official wiki ==

[https://v22.wiki.optitrack.com/]

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Repetability: < 1 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Start up ==

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug laying on the computer's frame.

== Daily calibration ==

1. Start Motive.

[[File:ASTA Motive Desktop.png|100px]]

2. Make sure that no reflectors (or reflecting surfaces) are present in the capture volume.

[[File:ASTA Motive Wanding.png|600px]]

3. Find the calibration pane on the left-hand side

4. Press "Clear Mask"

5. Press "Mask Visible"

6. Press "Start Wanding"

''' If the number of cameras listed under "Wanding" doesn't total to 16 (the numbering doesn't matter), restart Motive and repeat steps 3-6. '''

7. Find the calibration wand hanging on the right-hand side of the computer.

8. Walk the wand through the capture volume at a speed of 1 m/s. Draw a circle right above the surface of the pool.

[[File:ASTA_Optitrack_Calibration_Pool.jpg|600px]]

9. Draw another circle right above the ground on the remaining area.

[[File:ASTA_Optitrack_Calibration_Low.jpg|600px]]

10. Draw a third circle higher up.

[[File:ASTA_Optitrack_Calibration_High.jpg|600px]]

11. Walk back to the central shed, hang the wand where it was, come back to the motion capture computer, and press "Calculate". The result should be at least "Great", and ideally, "Exceptional".

[[File:Exceptional.png|600px]]

12. If it is the case, press "Apply". Otherwise, repeat steps 6-11.

''' If the calibration keeps being insufficient, restart Motive and repeat steps 3-11'''

13. Fing the L-shaped calibration square on the left-hand side of the computer, and lay it at the center of the capture volume using the white pieces of tapes as guides.

[[File:ASTA_Optitrack_Calibration_Square.jpg|600px]]

14. Make sure that the calibration square is leveled by looking at the bubble levels. If it's not the case, adjust the height of the legs.

[[File:ASTA_Optitrack_Calibration_Bubble_Level.jpg|600px]]

15. Come back to the motion capture computer, find the "Ground Plane" tab in the "Calibration" pane, and press "Set Ground Pane".

[[File:ASTA_Optitrack_Calibration_Ground_Plane.png|600px]]

== Adding an asset ==

1. Attach at least 4 markers to the robot (the more, the better) while avoiding symmetries.

2. Place the robot next to the origin with its body axis parallel to the fixed axis.

3. In Motive, select all the markers associated with the robot, right-click, and select "Rigid Body" > "Create From Selected Markers".

[[File:ASTA_Motive_Create.png|600px]]

== Streaming data ==

1. Find the "Streaming" pane and enable "VRPN" for use with ROS clients and "Optitrack" for use with "NatNet" clients.

[[File:ASTA_Motive_Streaming.png|600px]]

=== Using ROS clients ===

2. In Ubuntu 18.04 (ROS Melodic) or Ubuntu 20.04 (ROS Noetic), fire up a terminal and install ASTA's ROS workspace collection:

git clone https://github.com/DavidWuthier/asta_workspace_setup.git
cd asta_workspace_setup
sudo chmod +x asta_workspace_setup.sh
./asta_workspace_setup.sh

3. Chain your current workspace to the VRPN workspace:

cd /path/to/your/current/workspace
catkin config --extend ~/asta_ws/vrpn_ws/devel
catkin clean -y
catkin build

4. Launch the client with the server address that can be found under "Local Interface" in the "Streaming" pane:

roslaunch vrpn_client_ros sample.launch server:=192.168.1.225

=== Using NatNet clients (C++ on Ubuntu or C/C++/C#/VB/.Net/Matlab on Windows) ===

2. Download the [https://optitrack.com/software/natnet-sdk/ NatNet SDK] and check out the examples.

== Archive (in case the system needs to be reassembled) ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut 1 m length of 8 mm nylon rope
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

ASTA motion capture

2021-02-01T21:50:53Z

Davwu: /* Prepare 16 safety ropes to prevent accidental camera drops */

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Repetability: < 1 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Start up ==

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug laying on the computer's frame.

== Daily calibration ==

1. Start Motive.

[[File:ASTA Motive Desktop.png|100px]]

2. Make sure that no reflectors (or reflecting surfaces) are present in the capture volume.

[[File:ASTA Motive Wanding.png|600px]]

3. Find the calibration pane on the left-hand side

4. Press "Clear Mask"

5. Press "Mask Visible"

6. Press "Start Wanding"

''' If the number of cameras listed under "Wanding" doesn't total to 16 (the numbering doesn't matter), restart Motive and repeat steps 3-6. '''

7. Find the calibration wand hanging on the right-hand side of the computer.

8. Walk the wand through the capture volume at a speed of 1 m/s. Draw a circle right above the surface of the pool.

[[File:ASTA_Optitrack_Calibration_Pool.jpg|600px]]

9. Draw another circle right above the ground on the remaining area.

[[File:ASTA_Optitrack_Calibration_Low.jpg|600px]]

10. Draw a third circle higher up.

[[File:ASTA_Optitrack_Calibration_High.jpg|600px]]

11. Walk back to the central shed, hang the wand where it was, come back to the motion capture computer, and press "Calculate". The result should be at least "Great", and ideally, "Exceptional".

[[File:Exceptional.png|600px]]

12. If it is the case, press "Apply". Otherwise, repeat steps 6-11.

''' If the calibration keeps being insufficient, restart Motive and repeat steps 3-11'''

13. Fing the L-shaped calibration square on the left-hand side of the computer, and lay it at the center of the capture volume using the white pieces of tapes as guides.

[[File:ASTA_Optitrack_Calibration_Square.jpg|600px]]

14. Make sure that the calibration square is leveled by looking at the bubble levels. If it's not the case, adjust the height of the legs.

[[File:ASTA_Optitrack_Calibration_Bubble_Level.jpg|600px]]

15. Come back to the motion capture computer, find the "Ground Plane" tab in the "Calibration" pane, and press "Set Ground Pane".

[[File:ASTA_Optitrack_Calibration_Ground_Plane.png|600px]]

== Adding an asset ==

1. Attach at least 4 markers to the robot (the more, the better) while avoiding symmetries.

2. Place the robot next to the origin with its body axis parallel to the fixed axis.

3. In Motive, select all the markers associated with the robot, right-click, and select "Rigid Body" > "Create From Selected Markers".

[[File:ASTA_Motive_Create.png|600px]]

== Streaming data ==

1. Find the "Streaming" pane and enable "VRPN" for use with ROS clients and "Optitrack" for use with "NatNet" clients.

[[File:ASTA_Motive_Streaming.png|600px]]

=== Using ROS clients ===

2. In Ubuntu 18.04 (ROS Melodic) or Ubuntu 20.04 (ROS Noetic), fire up a terminal and install ASTA's ROS workspace collection:

git clone https://github.com/DavidWuthier/asta_workspace_setup.git
cd asta_workspace_setup
sudo chmod +x asta_workspace_setup.sh
./asta_workspace_setup.sh

3. Chain your current workspace to the VRPN workspace:

cd /path/to/your/current/workspace
catkin config --extend ~/asta_ws/vrpn_ws/devel
catkin clean -y
catkin build

4. Launch the client with the server address that can be found under "Local Interface" in the "Streaming" pane:

roslaunch vrpn_client_ros sample.launch server:=192.168.1.225

=== Using NatNet clients (C++ on Ubuntu or C/C++/C#/VB/.Net/Matlab on Windows) ===

2. Download the [https://optitrack.com/software/natnet-sdk/ NatNet SDK] and check out the examples.

== Archive (in case the system needs to be reassembled) ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut 1 m length of 8 mm nylon rope
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

ASTA motion capture

2021-02-01T21:49:21Z

Davwu: /* Using NatNet clients (C++ on Ubuntu or C/C++/C#/VB/.Net/Matlab on Windows) */

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Repetability: < 1 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Start up ==

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug laying on the computer's frame.

== Daily calibration ==

1. Start Motive.

[[File:ASTA Motive Desktop.png|100px]]

2. Make sure that no reflectors (or reflecting surfaces) are present in the capture volume.

[[File:ASTA Motive Wanding.png|600px]]

3. Find the calibration pane on the left-hand side

4. Press "Clear Mask"

5. Press "Mask Visible"

6. Press "Start Wanding"

''' If the number of cameras listed under "Wanding" doesn't total to 16 (the numbering doesn't matter), restart Motive and repeat steps 3-6. '''

7. Find the calibration wand hanging on the right-hand side of the computer.

8. Walk the wand through the capture volume at a speed of 1 m/s. Draw a circle right above the surface of the pool.

[[File:ASTA_Optitrack_Calibration_Pool.jpg|600px]]

9. Draw another circle right above the ground on the remaining area.

[[File:ASTA_Optitrack_Calibration_Low.jpg|600px]]

10. Draw a third circle higher up.

[[File:ASTA_Optitrack_Calibration_High.jpg|600px]]

11. Walk back to the central shed, hang the wand where it was, come back to the motion capture computer, and press "Calculate". The result should be at least "Great", and ideally, "Exceptional".

[[File:Exceptional.png|600px]]

12. If it is the case, press "Apply". Otherwise, repeat steps 6-11.

''' If the calibration keeps being insufficient, restart Motive and repeat steps 3-11'''

13. Fing the L-shaped calibration square on the left-hand side of the computer, and lay it at the center of the capture volume using the white pieces of tapes as guides.

[[File:ASTA_Optitrack_Calibration_Square.jpg|600px]]

14. Make sure that the calibration square is leveled by looking at the bubble levels. If it's not the case, adjust the height of the legs.

[[File:ASTA_Optitrack_Calibration_Bubble_Level.jpg|600px]]

15. Come back to the motion capture computer, find the "Ground Plane" tab in the "Calibration" pane, and press "Set Ground Pane".

[[File:ASTA_Optitrack_Calibration_Ground_Plane.png|600px]]

== Adding an asset ==

1. Attach at least 4 markers to the robot (the more, the better) while avoiding symmetries.

2. Place the robot next to the origin with its body axis parallel to the fixed axis.

3. In Motive, select all the markers associated with the robot, right-click, and select "Rigid Body" > "Create From Selected Markers".

[[File:ASTA_Motive_Create.png|600px]]

== Streaming data ==

1. Find the "Streaming" pane and enable "VRPN" for use with ROS clients and "Optitrack" for use with "NatNet" clients.

[[File:ASTA_Motive_Streaming.png|600px]]

=== Using ROS clients ===

2. In Ubuntu 18.04 (ROS Melodic) or Ubuntu 20.04 (ROS Noetic), fire up a terminal and install ASTA's ROS workspace collection:

git clone https://github.com/DavidWuthier/asta_workspace_setup.git
cd asta_workspace_setup
sudo chmod +x asta_workspace_setup.sh
./asta_workspace_setup.sh

3. Chain your current workspace to the VRPN workspace:

cd /path/to/your/current/workspace
catkin config --extend ~/asta_ws/vrpn_ws/devel
catkin clean -y
catkin build

4. Launch the client with the server address that can be found under "Local Interface" in the "Streaming" pane:

roslaunch vrpn_client_ros sample.launch server:=192.168.1.225

=== Using NatNet clients (C++ on Ubuntu or C/C++/C#/VB/.Net/Matlab on Windows) ===

2. Download the [https://optitrack.com/software/natnet-sdk/ NatNet SDK] and check out the examples.

== Archive (in case the system needs to be reassembled) ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut to 1 m length
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

ASTA motion capture

2021-02-01T21:47:42Z

Davwu: /* Usage */

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Repetability: < 1 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Start up ==

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug laying on the computer's frame.

== Daily calibration ==

1. Start Motive.

[[File:ASTA Motive Desktop.png|100px]]

2. Make sure that no reflectors (or reflecting surfaces) are present in the capture volume.

[[File:ASTA Motive Wanding.png|600px]]

3. Find the calibration pane on the left-hand side

4. Press "Clear Mask"

5. Press "Mask Visible"

6. Press "Start Wanding"

''' If the number of cameras listed under "Wanding" doesn't total to 16 (the numbering doesn't matter), restart Motive and repeat steps 3-6. '''

7. Find the calibration wand hanging on the right-hand side of the computer.

8. Walk the wand through the capture volume at a speed of 1 m/s. Draw a circle right above the surface of the pool.

[[File:ASTA_Optitrack_Calibration_Pool.jpg|600px]]

9. Draw another circle right above the ground on the remaining area.

[[File:ASTA_Optitrack_Calibration_Low.jpg|600px]]

10. Draw a third circle higher up.

[[File:ASTA_Optitrack_Calibration_High.jpg|600px]]

11. Walk back to the central shed, hang the wand where it was, come back to the motion capture computer, and press "Calculate". The result should be at least "Great", and ideally, "Exceptional".

[[File:Exceptional.png|600px]]

12. If it is the case, press "Apply". Otherwise, repeat steps 6-11.

''' If the calibration keeps being insufficient, restart Motive and repeat steps 3-11'''

13. Fing the L-shaped calibration square on the left-hand side of the computer, and lay it at the center of the capture volume using the white pieces of tapes as guides.

[[File:ASTA_Optitrack_Calibration_Square.jpg|600px]]

14. Make sure that the calibration square is leveled by looking at the bubble levels. If it's not the case, adjust the height of the legs.

[[File:ASTA_Optitrack_Calibration_Bubble_Level.jpg|600px]]

15. Come back to the motion capture computer, find the "Ground Plane" tab in the "Calibration" pane, and press "Set Ground Pane".

[[File:ASTA_Optitrack_Calibration_Ground_Plane.png|600px]]

== Adding an asset ==

1. Attach at least 4 markers to the robot (the more, the better) while avoiding symmetries.

2. Place the robot next to the origin with its body axis parallel to the fixed axis.

3. In Motive, select all the markers associated with the robot, right-click, and select "Rigid Body" > "Create From Selected Markers".

[[File:ASTA_Motive_Create.png|600px]]

== Streaming data ==

1. Find the "Streaming" pane and enable "VRPN" for use with ROS clients and "Optitrack" for use with "NatNet" clients.

[[File:ASTA_Motive_Streaming.png|600px]]

=== Using ROS clients ===

2. In Ubuntu 18.04 (ROS Melodic) or Ubuntu 20.04 (ROS Noetic), fire up a terminal and install ASTA's ROS workspace collection:

git clone https://github.com/DavidWuthier/asta_workspace_setup.git
cd asta_workspace_setup
sudo chmod +x asta_workspace_setup.sh
./asta_workspace_setup.sh

3. Chain your current workspace to the VRPN workspace:

cd /path/to/your/current/workspace
catkin config --extend ~/asta_ws/vrpn_ws/devel
catkin clean -y
catkin build

4. Launch the client with the server address that can be found under "Local Interface" in the "Streaming" pane:

roslaunch vrpn_client_ros sample.launch server:=192.168.1.225

=== Using NatNet clients (C++ on Ubuntu or C/C++/C#/VB/.Net/Matlab on Windows) ===

2. Download the [https://optitrack.com/software/natnet-sdk/|NatNet SDK] and check out the examples

== Archive (in case the system needs to be reassembled) ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut to 1 m length
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

File:ASTA Motive Streaming.png

2021-02-01T21:17:17Z

Davwu:

File:ASTA Motive Create.png

2021-02-01T21:09:22Z

Davwu:

File:ASTA Optitrack Calibration Ground Plane.png

2021-02-01T20:59:09Z

Davwu:

File:ASTA Optitrack Calibration Bubble Level.jpg

2021-02-01T20:55:02Z

Davwu:

File:ASTA Optitrack Calibration Square.jpg

2021-02-01T20:47:45Z

Davwu:

ASTA motion capture

2021-02-01T20:42:44Z

Davwu: /* In case the system needs to be reassembled */

ASTA motion capture

2021-02-01T20:42:01Z

Davwu: /* Daily calibration */

File:Exceptional.png

2021-02-01T20:39:00Z

Davwu:

File:ASTA Optitrack Calibration High.jpg

2021-02-01T20:16:19Z

Davwu:

File:ASTA Optitrack Calibration Low.jpg

2021-02-01T20:14:10Z

Davwu:

File:ASTA Optitrack Calibration Pool.jpg

2021-02-01T20:13:32Z

Davwu:

ASTA motion capture

2021-02-01T16:15:20Z

Davwu: /* Calibration */

File:ASTA Motive Wanding.png

2021-02-01T15:50:33Z

Davwu:

ASTA motion capture

2021-02-01T15:48:08Z

Davwu: /* Usage */

ASTA motion capture

2021-02-01T15:45:19Z

Davwu: /* Specs */

ASTA motion capture

2021-01-30T23:08:07Z

Davwu: /* Power on */

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Usage ==

=== Power on ===

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug to power on the two network switched and the 16 cameras.

=== Calibration ===

* Start Motive.

[[File:ASTA Motive Desktop.png|100px]]

=== ROS client ===

== In case the system needs to be reassembled ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut to 1 m length
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

ASTA motion capture

2021-01-30T23:07:16Z

Davwu: /* Usage */

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Usage ==

=== Power on ===

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer located in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug to power on the two network switched and the 16 cameras.

=== Calibration ===

* Start Motive.

[[File:ASTA Motive Desktop.png|100px]]

=== ROS client ===

== In case the system needs to be reassembled ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut to 1 m length
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

File:ASTA Motive Desktop.png

2021-01-30T23:04:25Z

Davwu:

ASTA motion capture

2021-01-30T23:00:42Z

Davwu:

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Usage ==

=== Power on ===

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer located in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug to power on the two network switched and the 16 cameras.

=== Calibration ===

* Start the Motive software.

=== ROS client ===

== In case the system needs to be reassembled ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut to 1 m length
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

ASTA motion capture

2021-01-30T22:56:58Z

Davwu:

== Specs ==

[[File:Optitrack.png|600px]]

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Usage ==

=== Power on ===

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer located in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug to power on the two network switch and the 16 cameras.

=== Calibration ===

* Start the Motive software.

=== ROS client ===

== In case the system needs to be reassembled ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut to 1 m length
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

ASTA motion capture

2021-01-30T22:55:54Z

Davwu:

[[File:Optitrack.png|600px]]

== Specs ==

* Covered area: 16 m x 12 m
* Accuracy: < 5 mm
* Number of cameras: 16
* Camera type: [https://optitrack.com/cameras/prime-17w/ Prime 17W]

== Usage ==

=== Power on ===

* Depending on the lighting conditions, switch on the reflectors. The switch stands on the right-hand side after entering through the rotating door.

[[File:ASTA Reflectors.jpg|400px]]

* Find the motion capture computer located in the central shed, and turn it on by pressing on the "cooling master" logo.

[[File:ASTA_Optitrack_Computer.jpg|400px]]

* Plugin the green plug to power on the two network switch and the 16 cameras.

=== Calibration ===

* Start the Motive software.

=== ROS client ===

== In case the system needs to be reassembled ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut to 1 m length
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

File:ASTA Optitrack Computer.jpg

2021-01-30T22:50:14Z

Davwu:

File:ASTA Reflectors.jpg

2021-01-30T22:42:37Z

Davwu:

ASTA motion capture

2021-01-30T21:58:41Z

Davwu: /* Orient cameras and adjust focus */

== Description ==

[[File:Optitrack.png|600px]]

== Usage ==

=== ROS client ===

== In case the system needs to be reassembled ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut to 1 m length
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Use a remote desktop app and ethernet connection.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]

ASTA motion capture

2021-01-30T21:57:06Z

Davwu: /* Installation as performed in August 2020 */

== Description ==

[[File:Optitrack.png|600px]]

== Usage ==

=== ROS client ===

== In case the system needs to be reassembled ==

=== Mount cameras on joints and joints on clamps ===

Make sure that the camera is not upside-down.

=== Prepare 16 safety ropes to prevent accidental camera drops ===

# Cut to 1 m length
# Use a lighter at both ends
# prepare 8-knots as in rock climbing

=== Mount cameras on truss and wire them with the two switches ===

Mount the 16 cameras in the corners and at each 1/4 of the edges.
Use the safety ropes, and wire them to the two switches as below.

[[File:Asta optitrack wiring.png|600px]]

=== Orient cameras and adjust focus ===

Once the setup is up-and-running,
adjust the focus of each camera using a marker
at 2/3 of the working distance.
Skype and screen sharing may be helpful.

[[File:Asta optitrack.png|600px]]

* In the corners: the bottom of FoV is parallel to the long edges, and the bottom right corner is vertical.

[[File:Asta optitrack type1.png|400px]]

* At 1/4 of a short: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type2.png|400px]]

* At 1/2 of a short edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type3.png|400px]]

* At 1/4 of a long edge: the top of the FOV is horizontal, and the camera points toward the center.

[[File:Asta optitrack type4.png|400px]]

* At 1/2 of a long edge: the bottom of the FOV is vertical, and the camera aims downward.

[[File:Asta optitrack type5.png|400px]]