MMR - Revision history

Jca: /* make video from images */

2016-11-29T12:34:26Z

make video from images

← Older revision		Revision as of 14:34, 29 November 2016
Line 51:		Line 51:
	1. Convert to filenames with sequential numbers and a supported image format (e.g. png)		1. Convert to filenames with sequential numbers and a supported image format (e.g. png)

	2. run ffmpeg with appropriate options		2. run ffmpeg with appropriate options to convert it to a video (final framerate can not be below 25 fps, so same image can be repeated a number of times.

	A script to do so could be:		A script to do so could be:

Jca: /* make video from images */

2016-11-29T12:32:12Z

make video from images

← Older revision		Revision as of 14:32, 29 November 2016
Line 56:		Line 56:
	#! /bin/bash		#! /bin/bash
	let COUNTER=1000000		let COUNTER=1000000
	for f in $( ls *.bmp ); do		for f in $( ls *ann_2.bmp ); do
	echo convert $f path$COUNTER.png		echo convert $f path$COUNTER.png
	convert $f path$COUNTER.png		convert $f path$COUNTER.png
	let PREV=$COUNTER		#let PREV=$COUNTER
	let COUNTER+=1		let COUNTER+=1
	done		# extra repeat of same image
	# convert to ~~mpeg~~ format		for n in {1..2}
			do
			convert $f path$COUNTER.png
			let COUNTER+=1
			done
			done
			for k in {1..50}; do
			convert $f path$COUNTER.png
			#let PREV=$COUNTER
			let COUNTER+=1
			done
			# convert to mp4 format
	# -r 25 frames per second		# -r 25 frames per second
	~~# -b 5000000 bitrate på 5Mbit/sec~~
	# -y betyder overskriv destination		# -y betyder overskriv destination
	ffmpeg -y -r 25 ~~-b 5000000~~ -i path1%06d.png ~~path~~.~~mpeg~~		ffmpeg -y -r 25 -i path1%06d.png landing.mp4
	ls -l ~~path~~.~~mpeg~~		ls -l *.mp4


	----		----


	===FAQ===		===FAQ===

Jca at 12:44, 27 August 2009

2009-08-27T12:44:26Z

@@ Line 1: / Line 1: @@
 This page holds information relevant for the Natty Bumpo robot.
 ===Natty Bumpo – demo instructions (full version)===
@@ Line 70: / Line 46: @@
 ----
 ===FAQ===

Jca: /* Natty Bumpo – demo instructions (full version) */

2009-08-27T12:42:48Z

Natty Bumpo – demo instructions (full version)

← Older revision		Revision as of 14:42, 27 August 2009
Line 62:		Line 62:
	If the remote control is on and set to "comp" (top-left switch "up), and NØDSTOP is down, then the laser scanner display and coordinate system will follow movement of the MMR (push MMR to demonstrate)		If the remote control is on and set to "comp" (top-left switch "up), and NØDSTOP is down, then the laser scanner display and coordinate system will follow movement of the MMR (push MMR to demonstrate)

	* ~~see~~		* try (in the client tab)
	>> disp help		>> disp help
	for display options		for display options

Jca: /* Natty Bumpo – demo instructions (full version) */

2009-08-27T12:41:58Z

Natty Bumpo – demo instructions (full version)

← Older revision		Revision as of 14:41, 27 August 2009
Line 44:		Line 44:
	(name the tabs: laser, cam, mrc, client)		(name the tabs: laser, cam, mrc, client)

	'''laser'''		'''laser''' tab
	jca$ ssh demo@smr16 (the usual demo password)		jca$ ssh demo@smr16 (the usual demo password)
	demo$ cd bin		demo$ cd bin
	demo$ ulmsserver		demo$ ulmsserver
	'''cam'''		'''cam''' tab
	jca$ ssh demo@smr16 (the usual demo password)		jca$ ssh demo@smr16 (the usual demo password)
	demo$ cd bin		demo$ cd bin
	demo$ ucamserver		demo$ ucamserver
	'''mrc'''		'''mrc''' tab
	jca$ ssh demo@smr16 (the usual demo password)		jca$ ssh demo@smr16 (the usual demo password)
	demo$ mrc -t1		demo$ mrc -t1
	'''client'''		'''client''' tab
	jca$ cd replay/mmrlive		jca$ cd replay/mmrlive
	jca$ auclient		jca$ auclient

Jca: /* Natty Bumpo – demo instructions (full version) */

2009-08-27T12:41:31Z

Natty Bumpo – demo instructions (full version)

← Older revision		Revision as of 14:41, 27 August 2009
Line 44:		Line 44:
	(name the tabs: laser, cam, mrc, client)		(name the tabs: laser, cam, mrc, client)

	* laser		'''laser'''
	jca$ ssh demo@smr16 (the usual demo password)		jca$ ssh demo@smr16 (the usual demo password)
	demo$ cd bin		demo$ cd bin
	demo$ ulmsserver		demo$ ulmsserver
	* cam		'''cam'''
	jca$ ssh demo@smr16 (the usual demo password)		jca$ ssh demo@smr16 (the usual demo password)
	demo$ cd bin		demo$ cd bin
	demo$ ucamserver		demo$ ucamserver
	* mrc		'''mrc'''
	jca$ ssh demo@smr16 (the usual demo password)		jca$ ssh demo@smr16 (the usual demo password)
	demo$ mrc -t1		demo$ mrc -t1
	* client		'''client'''
	jca$ cd replay/mmrlive		jca$ cd replay/mmrlive
	jca$ auclient		jca$ auclient

Jca: /* Natty Bumpo – demo instructions (full version) */

2009-08-27T12:40:27Z

Natty Bumpo – demo instructions (full version)

← Older revision		Revision as of 14:40, 27 August 2009
Line 28:		Line 28:
	===Natty Bumpo – demo instructions (full version)===		===Natty Bumpo – demo instructions (full version)===

	- updated august 2009 / jca		* updated august 2009 / jca
	- to demonstrate sensor capabilities (no autonomous drive - sorry)		* to demonstrate sensor capabilities (no autonomous drive - sorry)

	Using TOSHIBA PC for control (boot with linux).		Using TOSHIBA PC for control (boot with linux).

Jca: /* Natty Bumpo – demo instructions (full version) */

2009-08-27T12:40:10Z

Natty Bumpo – demo instructions (full version)

← Older revision		Revision as of 14:40, 27 August 2009
Line 29:		Line 29:

	- updated august 2009 / jca		- updated august 2009 / jca
			- to demonstrate sensor capabilities (no autonomous drive - sorry)

	Using TOSHIBA PC for control (boot with linux).		Using TOSHIBA PC for control (boot with linux).

Jca at 12:38, 27 August 2009

2009-08-27T12:38:50Z

← Older revision		Revision as of 14:38, 27 August 2009
Line 26:		Line 26:
	----		----

	===Natty Bumpo – demo instructions (~~short~~ version)===		===Natty Bumpo – demo instructions (full version)===

	~~====Assumptions:====~~		- updated august 2009 / jca

	~~Near AU, i.e. Wireless network running~~ (~~if not: reboot to set default gateway~~).		Using TOSHIBA PC for control (boot with linux).

	~~(old mmrd version of software - pre 2007)~~		Login as jca/******

	--		Connect network cable to MMR (yellow crossed net cable)

	~~Using acer PC for control~~ (~~boot with linux~~).		Set IP adress (as root)

	~~Acer PC is connected with twisted network cable to Natty. Natty has IP 10.0.2.116,~~		root$ ifconfig eth0 10.0.2.100
	~~Acer is assumed to have IP~~ 10.0.2.~~1. (IP is set on acer in /etc/rc.d/rc.inet1.conf:~~
	~~IPADDR[0]=”10.0.2.1”~~
	~~USE_DHCP[0]=”no”~~
	~~NETMASK[0]=”255.255.255.0”.~~

	~~LMSserver~~ and ~~gpsserver must be running – check with ps -A. If not then start manually from a ssh session~~ (~~no parameters required). SMRDEMO~~, ~~UCAMSERVER and MMRD should be started manually~~, ~~e.g.:~~		Start a console, and create 4 tabs
			(name the tabs: laser, cam, mrc, client)

	ssh demo@smr16 ~~# and~~ password		* laser
	cd ~~/rhome/~~demo/bin		jca$ ssh demo@smr16 (the usual demo password)
	./~~smrdemo~~ -~~t1 # smrdemo opens port 31001~~		demo$ cd bin
			demo$ ulmsserver
			* cam
			jca$ ssh demo@smr16 (the usual demo password)
			demo$ cd bin
			demo$ ucamserver
			* mrc
			jca$ ssh demo@smr16 (the usual demo password)
			demo$ mrc -t1
			* client
			jca$ cd replay/mmrlive
			jca$ auclient
			This should show camera images and a laser scanner view - in a demonstration mode

	~~ssh demo@smr16~~		If the remote control is on and set to "comp" (top-left switch "up), and NØDSTOP is down, then the laser scanner display and coordinate system will follow movement of the MMR (push MMR to demonstrate)
	~~cd bin~~
	~~./ucamserver -t~~ "~~path gmk~~" -~~-imagepath="/mnt/ram~~" ~~# camera server opens port 24920~~

	~~And the navigation server currently called mmrd~~		* see
			>> disp help
			for display options

	~~ssh demo@smr16~~
	~~cd bin~~
	~~./mmrd -i /mnt/ram # drive planner opens port 24922~~

	--

	~~''On acer: for mission control and monitoring''~~

	~~Find the graphical control application (based on openCV):~~		----
	~~./uclient # is in /usr/local/smr/bin on "nyquist" and "jensen"~~

	~~Connect to smr16 (session3) port 24922~~		===FAQ===

	~~>> connect smr16 24922~~
	~~>> connected ...~~

	~~To watch status image (getting laser scan and other info every 1 sec).~~

	~~>> push cmd~~=~~”get all” # major variable values~~
	~~>> push cmd~~=~~”obstget” # obstacles~~
	~~>> push cmd~~=~~”planget status” # gets current command line (etc)~~
	~~>> push cmd~~=~~”scanget andall” # gets the laser scan and result of path finding (etc)~~

	~~Run a mission e.g. Down the hall (25 meter on the left side):~~
	~~>> planset goto~~=~~”fwd left 25”~~
	~~Set (max) speed (to 0.9 m/s) – current speed is shown on status image (top-left):~~
	~~>> set speed~~=~~0.9~~
	~~Run a script, (look in /rhome/demo/bin/*.mmr) place MMR in hall and try~~
	~~>> planset load="doors.mmr"~~
	~~It will drive along left side of hallway (~25m) and stop at all open doors to the right, and return.~~

	~~For other commands try~~
	~~>> help~~
	~~>> shelp~~

	~~If vision path finding is to be used, then the following parameter must be set:~~
	~~>> set visPathUse=true~~
	~~The vision polygon can be seen by a further push command:~~
	~~>> push cmd="get visPoly"~~

	~~----~~
	~~'''FAQ'''~~

	''Tilt of laser scanner does not work.''		====Tilt of laser scanner does not work.====

	The tilt controller can enter a no-operation mode where it needs a reset to resume operation.		The tilt controller can enter a no-operation mode where it needs a reset to resume operation.

Jca: /* make video from images */

2008-09-29T13:29:18Z

make video from images

← Older revision		Revision as of 15:29, 29 September 2008
Line 11:		Line 11:
	let COUNTER=1000000		let COUNTER=1000000
	for f in $( ls *.bmp ); do		for f in $( ls *.bmp ); do
	echo convert $f path$COUNTER.png		echo convert $f path$COUNTER.png
	convert $f path$COUNTER.png		convert $f path$COUNTER.png
	let PREV=$COUNTER		let PREV=$COUNTER
	let COUNTER+=1		let COUNTER+=1
	done		done
	# convert to mpeg format		# convert to mpeg format
	# -r 25 frames per second		# -r 25 frames per second
Line 25:		Line 25:

	----		----

	===Natty Bumpo – demo instructions (short version)===		===Natty Bumpo – demo instructions (short version)===