Ulmsserver - Revision history

Jca: /* ulmsserver.ini for MRC script */

2010-10-20T15:17:37Z

ulmsserver.ini for MRC script

← Older revision		Revision as of 17:17, 20 October 2010
Line 8:		Line 8:
	Typical configuration could be:		Typical configuration could be:

	====ulmsserver.ini for ~~MRC script~~====		====ulmsserver.ini for the SMR====

	server datapath="/vhome/jca/logfiles"		server datapath="/vhome/jca/logfiles"

Jca: /* ulmsserver for HAKO tractor */

2010-10-20T15:13:00Z

ulmsserver for HAKO tractor

← Older revision		Revision as of 17:13, 20 October 2010
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	# mapobst map2localize - moved to bygn326.rule		# mapobst map2localize - moved to bygn326.rule

	====ulmsserver for HAKO tractor====		====ulmsserver.ini for HAKO tractor====

	server datapath="/rhome/demo/log_laser"		server datapath="/rhome/demo/log_laser"

Jca: /* Replay synchronized across servers */

2010-10-20T15:12:14Z

Replay synchronized across servers

← Older revision		Revision as of 17:12, 20 October 2010
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	====Replay synchronized across servers====		====Replay synchronized across servers====

	If a ~~client~~ connection is established to e.g. the camera server, then this interface can be used to synchronize any ~~e.g. image~~ replay on that server, an interface ~~could~~ be included in the configuration file like:		If a connection is established to e.g. the camera server, then this interface can be used to synchronize any replay on that server, an interface should then be included in the configuration file like:

	# part of ulmsserver.ini		# part of ulmsserver.ini
Line 252:		Line 252:
	cam replay		cam replay

	And the other way if the image ~~logfile~~ is stepped, then an interface in the camera server must be established to the laser server, like:		And the other way if the image log-file is stepped, then an interface in the camera server must be established to the laser server, like:

	# part of ucamserver.ini		# part of ucamserver.ini
Line 259:		Line 259:
	laser replay		laser replay

	The the two servers should stay synchronized regardless of which interface is stepped.		The the two servers should now stay synchronized regardless of which interface is stepped.

	==laser scan logfile==		==laser scan logfile==

Jca: /* Replay configuration */

2010-10-20T15:10:47Z

Replay configuration

← Older revision		Revision as of 17:10, 20 October 2010
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	Once opened the two datasets are synchronized using the timestamp in the logfiles.		Once opened the two datasets are synchronized using the timestamp in the logfiles.

			====Replay synchronized across servers====

	If a client connection is established to e.g. the camera server, then this interface can be used to synchronize any e.g. image replay on that server, an interface could be included in the configuration file like:		If a client connection is established to e.g. the camera server, then this interface can be used to synchronize any e.g. image replay on that server, an interface could be included in the configuration file like:

Jca: /* Replay configuration */

2010-10-20T15:09:48Z

Replay configuration

← Older revision		Revision as of 17:09, 20 October 2010
Line 190:		Line 190:

	server datapath="/vhome/jca/logfiles"		server datapath="/vhome/jca/logfiles"
	server replaypath="/vhome/jca/replay/laser1/log"		server replaypath="/vhome/jca/replay/laser1/log" <--- new line
	server port=24919		server port=24919
	# for laser devices		# for laser devices
Line 204:		Line 204:
	scanset devtype='urg' devname="/dev/ttyACM0"		scanset devtype='urg' devname="/dev/ttyACM0"
	scanset def=urg		scanset def=urg
	scanset devtype='replay' devname="laser_0" <--- new device		scanset devtype='replay' devname="laser_0.log" <--- new device
	scanset def=replay <--- new line		scanset def=replay <--- new line
	scanset x=0.22 y=0.0 z=0.05		scanset x=0.22 y=0.0 z=0.05
Line 212:		Line 212:
	#scanset log=1 <--- changed to comment		#scanset log=1 <--- changed to comment
	...		...
	# the rest of the configuration is unchanged - i.e. the functional modules		# the rest of the configuration is unchanged - i.e. the functional modules that should be tested against the recorded laserscans.

	This configuration should be saved in in a specific replay directory (here assumed to be ''~/replay/laser1''		This configuration should be saved in in a specific replay directory (here assumed to be ''~/replay/laser1''
Line 231:		Line 231:
	>> scanset step		>> scanset step
	<scanset tod="1266588146.403597" time="15:02:26.403" logLine="3"/>		<scanset tod="1266588146.403597" time="15:02:26.403" logLine="3"/>
			>>

	If the ''auclient'' is running (and configured), then the scan should be visible in the navigation window.		If the ''auclient'' is running (and configured), then the scan should be visible in the navigation window.

			The odometry pose can be stepped too:

			>> odopose step
			<odopose tod="1266588154.579142" time="15:02:34.579" logLine="10"/>
			>>

			Once opened the two datasets are synchronized using the timestamp in the logfiles.
			If a client connection is established to e.g. the camera server, then this interface can be used to synchronize any e.g. image replay on that server, an interface could be included in the configuration file like:

			# part of ulmsserver.ini
			module load=if alias=cam
			cam connect=localhost:24920
			cam replay

			And the other way if the image logfile is stepped, then an interface in the camera server must be established to the laser server, like:

			# part of ucamserver.ini
			module load=if alias=laser
			laser connect=localhost:24919
			laser replay

			The the two servers should stay synchronized regardless of which interface is stepped.

	==laser scan logfile==		==laser scan logfile==

Jca: /* Replay configuration */

2010-10-20T15:00:25Z

Replay configuration

← Older revision		Revision as of 17:00, 20 October 2010
Line 189:		Line 189:
	Laser scanner logfiles can be replayed, but a replay device must be added to the configuration file, e.g.		Laser scanner logfiles can be replayed, but a replay device must be added to the configuration file, e.g.

	~~...~~		server datapath="/vhome/jca/logfiles"
	module load=odopose		server replaypath="/vhome/jca/replay/laser1/log"
	odopose replay		server port=24919
			# for laser devices
			module load='laserpool'
			# handling of (server-global) configuration values
			module load='var'
			# load coordinate system plug-in
			module load=odoPose
			# make logfile for odometry updates (odoPose.log in datapath)
			# odopose log <--- changed to a comment
			odopose replay <--- new line
	#		#
	scanset devtype='urg' devname="/dev/ttyACM0"		scanset devtype='urg' devname="/dev/ttyACM0"
	scanset def=urg		scanset def=urg
	scanset devtype='replay' devname="laser_0"		scanset devtype='replay' devname="laser_0" <--- new device
	scanset def=replay		scanset def=replay <--- new line
	scanset x=0.22 y=0.0 z=0.05		scanset x=0.22 y=0.0 z=0.05
	scanset width=180		scanset width=180
	#scanset mirror=true		#scanset mirror=true <--- changed to comment
	#scanset logOpen		#scanset logOpen <--- changed to comment
	#scanset log=1		#scanset log=1 <--- changed to comment
			...
			# the rest of the configuration is unchanged - i.e. the functional modules

			This configuration should be saved in in a specific replay directory (here assumed to be ''~/replay/laser1''
			In this directory make a subdirectory, e.g. called ''log''

			Place the logfiles in this directory.

			cd ~/replay/laser1/
			mkdir log
			cp ~/logfiles/*.log log/

			Start the laser server

			ulmsserver

			And start stepping through the recorded laserscans:

			>> scanset step
			<scanset tod="1266588146.403597" time="15:02:26.403" logLine="3"/>

			If the ''auclient'' is running (and configured), then the scan should be visible in the navigation window.

	==laser scan logfile==		==laser scan logfile==

Jca: /* Replay configuration */

2010-10-20T14:47:10Z

Replay configuration

← Older revision		Revision as of 16:47, 20 October 2010
Line 188:		Line 188:

	Laser scanner logfiles can be replayed, but a replay device must be added to the configuration file, e.g.		Laser scanner logfiles can be replayed, but a replay device must be added to the configuration file, e.g.

			...
			module load=odopose
			odopose replay
			#
			scanset devtype='urg' devname="/dev/ttyACM0"
			scanset def=urg
			scanset devtype='replay' devname="laser_0"
			scanset def=replay
			scanset x=0.22 y=0.0 z=0.05
			scanset width=180
			#scanset mirror=true
			#scanset logOpen
			#scanset log=1

	==laser scan logfile==		==laser scan logfile==

Jca: /* ulmsserver for HAKO tractor */

2010-10-20T14:45:21Z

ulmsserver for HAKO tractor

← Older revision		Revision as of 16:45, 20 October 2010
Line 184:		Line 184:
	rule log		rule log
	rule resume		rule resume

			===Replay configuration===

			Laser scanner logfiles can be replayed, but a replay device must be added to the configuration file, e.g.

	==laser scan logfile==		==laser scan logfile==

Jca: /* ulmsserver for HAKO tractor */

2010-10-20T13:30:48Z

ulmsserver for HAKO tractor

@@ Line 117: / Line 117: @@
   scanset logOpen
   scanset log=4
 ==laser scan logfile==

Jca: /* ulmsserver.ini for MRC script */

2010-10-20T13:28:22Z

ulmsserver.ini for MRC script

← Older revision		Revision as of 15:28, 20 October 2010
Line 35:		Line 35:
	The filename will be ''laser_0.log''.		The filename will be ''laser_0.log''.

	On top of this some modules ~~may be needed~~ to ~~load a laser scanner based localizer,~~ e.g.:		On top of this some modules to use the laserscans e.g. a localizer and obstacle generation:

	module load=v360		module load=v360
Line 93:		Line 93:
	# load map lines into localizer		# load map lines into localizer
	# mapobst map2localize - moved to bygn326.rule		# mapobst map2localize - moved to bygn326.rule

	~~See the section below or the on-line help for description of the individual plugins.~~

	====ulmsserver for HAKO tractor====		====ulmsserver for HAKO tractor====