VVV10 Tutorials

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Revision as of 11:56, 20 July 2010 by ErickSwere (talk | contribs) (iCub repository and build system)
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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!

iCub repository and build system

Lorenzo will give a brief description of the iCub repository and build system.

Possible topics:

  • how to compile the iCub software
  • how to write code that uses the iCub libraries
  • how to contribute code in the repository


  • Kiril Kiryazov
  • Gauss Lee
  • Erick Swere

Writing iCub applications =

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


  • yarprun
  • iCub applications


  • Kiril Kiryazov
  • Gauss Lee
  • Erick Swere

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 ammount of questions.

When? Tuesday 20. at 10:00am


  • 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

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


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 Kuppussuamy
  • Salomon
  • Federico
  • Interesting! - Damien
  • Gauss Lee

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