Difference between revisions of "VVV10 Tutorials"

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=== Cartesian Interfaces  ===
 
=== Cartesian Interfaces  ===
  
'''This tutorial takes place Thursday morning at 11.30am.'''
+
'''This tutorial takes place Friday morning after the group update'''
  
 
Hands-on the new cartesian features provided for iCub. We'll go through the following steps:
 
Hands-on the new cartesian features provided for iCub. We'll go through the following steps:

Revision as of 20:09, 22 July 2010

Tutorials

Please write here ideas for tutorials!

If you can give a tutorial, just propose it here, and say when you can give it. People can ask for tutorials!

A tutorial idea: - perhaps a quick step-by-step to getting the cartesian controller working on the simulator.

A tutorial idea: - how to create devices/controllers using YARP, perhaps going through in details on how to do a comphensive design and implementation of YARP interface to other devices

Cartesian Interfaces

This tutorial takes place Friday morning after the group update

Hands-on the new cartesian features provided for iCub. We'll go through the following steps:

  • Make sure that IpOpt is installed correctly.
  • Overview of cartesian interface (robot and simulator).
  • Overview of gaze interface (robot and simulator).

iCub repository and build system

This tutorial took place Wednesday morning at 11.30am.

Slides:TheiCubRepository-tutorial

Writing iCub applications

This tutorial is scheduled for Thursday at 3pm.

Tired of typing yarp connect? Lorenzo will explain how to automate running applications with several modules.

Topics:

  • yarprun
  • iCub applications

Interested?:

  • Kiril Kiryazov
  • Gauss Lee
  • Erick Swere
  • Paolo Tommasino
  • Onofrio Gigliotta
  • Francesca Stramandinoli
  • Naveen Kuppuswamy
  • Cristiano Alessandro
  • Chris Larcombe
  • Jason Leake
  • Damien
  • Salomon
  • Robert Lowe

Ros install, camera calibration, and detecting markers using artoolkit

Since camera calibration is a standard issue for computer vision, there are now some automated tools for the process. During this summer school, the lego-builders team will use the ones included in ROS.

Alexis can give a small tutorial on how to install ros and calibrate a camera using the utilities included. Afterwards, we will use the ar_pose package to detect the position of some markers. Estimated time: 30-60min depending on the amount of questions.

When? Tuesday 20. at 10:00am

Resources:

  • ROS installation instructions
  • gscam : ROS Node for capturing images using gstreamer (works on many cameras). Documentation
  • camera_calibration: Part of the ROS image_pipeline. Tutorial
  • ar_pose: ROS Node for detecting AR-Toolkit markers. Documentation, examples, videos: here
  • patternMaker: If you need more Markers, get them from here

We will have a bridge pushing yarp images onto a ros topic to work on the robot.

Interested? write your name here:

  • Giacomo Spigler
  • Salomon
  • That sounds useful! - Damien
  • Kiril Kiryazov
  • Gauss Lee
  • Paolo Tommasino
  • Francesca Stramandinoli
  • (22 people ended up attending)

iDyn

We've been developing a library for dynamics, which is the base for force, torque control and so on. Serena and Matteo can give a small overview of the library... anyone interested?

  • Jason Leake
  • Giacomo Spigler
  • Juan Victores
  • Paolo Tommasino
  • Alexis Maldonado
  • Cristiano Alessandro
  • Naveen Kuppuswamy
  • Salomon
  • Federico
  • Interesting! - Damien
  • Gauss Lee
  • Chris Larcombe
  • Robert Lowe

Ok we'll have a first introduction Tuesday 20th, in the afternoon (probably after coffee break). Since the library is quite big and there are a lot of things to say, it will probably be a very basic overview of the library, with code samples: we'll try to explain how the library works, hopefully. The code documentation is already available here, if you want to have a look at it! Have a look at the slides Media:idyn_tutorial_vvv10.pdf

Tutorials about using YARP interfaces to control the robot:

http://eris.liralab.it/iCub/dox/html/icub_motor_control_tutorial.html (basic position control)

http://eris.liralab.it/iCub/dox/html/icub_impedance_control_tutorial.html (torque/impedance interfaces)