HAKO
software installation on HAKO
The navigation computer is primarily running RHD and MRC
Running linux slackware version 12.0 (as of 5 May 2009)
RHD
17 April 2009
Compiled RHD.
Moved to new compiled version (svn 485 from rhd/branches/rhd2.0/build/*)
Moved to /root/hako/rhd484 (including bin, lib and include directories)
cd ~/svn/rhd/branches/rhd2.0/build tar -czf mrc484.tar.gz bin include lib scp mrc484.tar.gz root@hako:hako/
on HAKO, make new directoy to new version and move tar file to this
mkdir rhd484 mv rhd484.tar.gz rhd484 cd rhd484 tar -xzf rhd484.tar.gz cd .. ln -sf rhd484 rhd cd rhd/bin ln -s rhdconfig/rhdconfig.hako.xml rhdconfig.xml
Disable crossbow in rhdconfig.xml (not sufficient stable for real work in this environment)
MRC
17 April 2009
snapshot of MRC (from /vhome/naa/robot2005/src/) to my svn directory on jensen
Changed path of librhd.a in Makefile in mrc subdirectory to:
LIBS= -lrobot -lm /vhome/jca/svn/rhd/branches/rhd2.0/build/lib/librhd.a \ /vhome/naa/linux/smr/libsmr/libsmr.a \ -lpthread -lncurses -lexpat -liau_mat
Reference to RHD rhd.h should have moved to
/vhome/jca/svn/rhd/branches/rhd2.0/include/rhd.h
but was not (should be OK), used the version in
/usr/local/smr/include
compiled MRC, and moved it to
scp mrc root@hako:hako/
MRC configuration
17 April 2009
the Hako calibration parameters are in
/root/hako/calib/robot.conf
1 july 2010
Turnr parameters were changed to
drive_kdist ="1.0" drive_kangle ="3.0"
But should be safe to go back to:
drive_kdist ="1.2" drive_kangle ="3.5"
Is OK for odometry turns (90deg) with speed up to 1.5m/s, and using kalman position with speeds up to 1m/s
The full motion control group is set to (1 july 2010)
<motioncontrol ts ="0.1" line_gain ="0.1" line_tau ="0" line_alfa ="0.04" wall_gain ="1" wall_tau ="0.7" wall_alfa ="0.2" drive_kdist ="1.0" drive_kangle ="3.0" gain ="0" tau ="0.16" alfa ="0.2" w ="0.26" robotlength ="1.7" lim ="0.57" stopdist ="0.18" alarmdist ="0.1" velcmd ="0.5" acccmd ="0.5" nolinedist ="0.2" />
HAKO old mission manager
Start in browser
Browser with java enabled.
Connect to:
http://192.168.1.10/hako/applet/index.php
Hvis det er første gang, så download 'settings' fil nederst i vinduet, og placer i eget bibliotek som beskrevet. Restart browser.
Vælg så "Hako Control" øverst på php-siden.
Så forbinder java-applet til hakoclient, som starter RHD og MRC på hako-navigationscomputer.
Når forbindelse er etableret og GPS er i fix-mode er status grøn, og klar til at loade en mission.
files
On the HAKO1 computer the mission is placed at
/srv/httpd/htdocs/hako/applet/var/mission.xml
The logfiles can be found in
/srv/httpd/htdocs/hako/applet/log
The newest log is called log. the previous logfile is renamed to YYMMDD--HHMM-log at the time of the new mission.
The logfile has the following entries:
$xkalman $ykalman $thkalman $gpseasting $gpsnorthing $odox $odoy $odoth $odovelocity $hakosteeringangle $hakocvtpulses
The first log entry has values for $xkalman and $ykalman only. The next line has also $gpseasting $gpsnorthing and from the third line all values should be valid.
NB! the logging is started after the kalman-init period only (before 1 July 2010)
hakoclient
Is called smrdemoclient in the /srv/httpd/htdocs/hako/applet/run directory, but refers to hakoclient in the /home/ex05/src/smrdemo2ext/ directory.
hakoclient can be started manually with the mission XML file as parameter. From the mission directory:
../bin/smrdemoclient mission.xml
The hakoclient source is in the svn (version 1011 as of 30 jun 2010) updated to handle the following issues:
- based on NAA modifications to omegaturn.
- Skipped the last drive on tight omega turns (in file turn_omega.c), to allow faster convergence to next no-turn leg.
- Skipped the last turnr in a fishtail-turn (in functions.c) to allow faster convergence to next no-turn leg.
- Reduced forward drive after first turnr to 20cm (from 0.7m) to make manoeuvre more smooth.
- added a few comments, removed a few unused variables and modified 2 variables from 'int' to 'unsigned int' to remove warnings.
- made a copy of 'stream2line.h' and '-.c' into hakoclient directory to make compilation independent of librobot.a in NAA home directory.
tested 1 july 2010 ad showed clear improvements for both turns.
Stopping and reversing time for the fishtail turn is p.t. bad due to slow CVT control. Fishtail could further be improved with turning while reversing (e.g. using turnr 6 30 @v-1).
hako 2 - Perception computer
Perception computer Is running AU robot servers and works as remote control server
Running linux slackware version 12.0 (as of 5 May 2009)