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rtime.felk.cvut.cz Git - eurobot/public.git/log
Michal Sojka [Fri, 28 Mar 2014 00:54:07 +0000 (01:54 +0100)]
robomon: Fix motion_speed subscriber
It is necessary to supply a callback in order to receive some data.
Michal Sojka [Fri, 28 Mar 2014 00:19:06 +0000 (01:19 +0100)]
Merge branch 'maint-demo' into demo
Conflicts:
src/robomon/RobomonAtlantis.cpp
src/robomon/RobomonAtlantis.h
Michal Sojka [Fri, 28 Mar 2014 00:08:13 +0000 (01:08 +0100)]
robomon: Implement motor simulation
Michal Sojka [Wed, 27 Feb 2013 10:45:17 +0000 (11:45 +0100)]
Get rid of warnings in roboorte generated code
Michal Sojka [Fri, 15 Nov 2013 16:14:46 +0000 (17:14 +0100)]
Merge branch 'maint-demo' into demo
Michal Sojka [Fri, 15 Nov 2013 16:08:48 +0000 (17:08 +0100)]
Fix redefinition of MIN/MAX macros warnings on recent Linux distributions
Michal Sojka [Fri, 15 Nov 2013 16:04:09 +0000 (17:04 +0100)]
Merge branch 'maint-demo' into demo
Michal Sojka [Fri, 15 Nov 2013 16:02:37 +0000 (17:02 +0100)]
Update ORTE to 0.3.4 version
Michal Sojka [Wed, 13 Nov 2013 10:22:26 +0000 (11:22 +0100)]
Make rozkuk compilation conditional
It needs old OpenCV libraries.
Michal Sojka [Thu, 24 Oct 2013 05:16:05 +0000 (07:16 +0200)]
Make compilation of barcol and barcam conditional
These programs depend on an old version of OpenCV, which is no longer
available in current Linux distributions.
Conflicts:
src/camera/barcam/Makefile.omk
src/camera/barcol/Makefile.omk
Michal Vokac [Thu, 20 Oct 2011 12:10:38 +0000 (14:10 +0200)]
motion: Fix compile error.
There was problem with NULL definition, adding the stdio header solved the problem.
Michal Sojka [Wed, 13 Nov 2013 10:14:19 +0000 (11:14 +0100)]
Fix hokuyo compilation on some Ubuntu version
(reported by Andres EspaƱa)
Michal Sojka [Thu, 24 Oct 2013 05:22:57 +0000 (07:22 +0200)]
Merge branch 'maint-demo' into demo
Michal Sojka [Thu, 24 Oct 2013 05:16:05 +0000 (07:16 +0200)]
Make compilation of barcol and barcam conditional
These programs depend on an old version of OpenCV, which is no longer
available in current Linux distributions.
Michal Sojka [Thu, 24 Oct 2013 05:05:56 +0000 (07:05 +0200)]
Fix compilation errors in the hokuyo library
Michal Sojka [Mon, 2 Jul 2012 15:44:06 +0000 (17:44 +0200)]
Fix MCL compilation for Simulink
Michal Sojka [Fri, 24 May 2013 15:09:23 +0000 (17:09 +0200)]
Merge branch 'fix' into demo
Michal Sojka [Fri, 24 May 2013 15:06:52 +0000 (17:06 +0200)]
Fix a compile error on recent systems
Michal Sojka [Wed, 19 Sep 2012 15:11:17 +0000 (17:11 +0200)]
Fix compilation errors on recent Linux distributions
Michal Vokac [Wed, 11 Jan 2012 20:03:29 +0000 (21:03 +0100)]
robofsm: Add bumpers subscriber and fix bumpers handling.
Michal Vokac [Mon, 2 Jan 2012 13:09:36 +0000 (14:09 +0100)]
robomon: Register system status subscriber and show APP status.
Michal Vokac [Mon, 2 Jan 2012 13:08:32 +0000 (14:08 +0100)]
robomon: Do not send speed request from robomon.
Now motors are disabled and no regulation is done when
speed request is 0xffff.
Michal Vokac [Mon, 2 Jan 2012 13:06:34 +0000 (14:06 +0100)]
robomon: Hide start plug check box.
Michal Vokac [Mon, 2 Jan 2012 13:05:09 +0000 (14:05 +0100)]
robofsm: Remove unused define.
Michal Vokac [Mon, 2 Jan 2012 13:04:46 +0000 (14:04 +0100)]
displayd: Register new subscriber with system status condition.
This status is used for APP status signalization.
Michal Vokac [Mon, 2 Jan 2012 13:03:49 +0000 (14:03 +0100)]
robofsm: Register new ORTE publisher with system condition state.
If any system module is not ready, system status condition set to non-zero.
Michal Vokac [Mon, 2 Jan 2012 13:00:31 +0000 (14:00 +0100)]
types: Add new type for system condition signalization.
Michal Vokac [Mon, 2 Jan 2012 11:04:42 +0000 (12:04 +0100)]
robofsm: Do not wait so long when loading.
Michal Vokac [Fri, 30 Dec 2011 15:22:24 +0000 (16:22 +0100)]
robofsm: Set motor component status according to motion status.
Michal Vokac [Fri, 30 Dec 2011 15:21:16 +0000 (16:21 +0100)]
robofsm: Do not allow start before every system components are ready.
Michal Vokac [Fri, 30 Dec 2011 15:18:11 +0000 (16:18 +0100)]
robofsm: Yellow APP signalization on display when system not ready.
When any component not ready for start, put COMPONENT_ERR into est_pos_best
which is used in dispalayd for APP status show.
Michal Vokac [Fri, 30 Dec 2011 15:14:56 +0000 (16:14 +0100)]
robofsm: Add function checking system components statuses.
If any module is not ready for start, return non-zero.
Michal Vokac [Fri, 30 Dec 2011 15:10:04 +0000 (16:10 +0100)]
robofsm: Increase safety area around obstacles.
Michal Vokac [Fri, 30 Dec 2011 15:09:01 +0000 (16:09 +0100)]
robofsm: Try mac 3 times approach target.
If five times obstacle event occurs, send motion error signal.
Michal Vokac [Fri, 30 Dec 2011 15:05:57 +0000 (16:05 +0100)]
robofsm: Just debug message changes.
Michal Vokac [Fri, 30 Dec 2011 15:05:08 +0000 (16:05 +0100)]
robofsm: Use shorter distance for approach style arrive from.
Michal Vokac [Fri, 30 Dec 2011 15:04:26 +0000 (16:04 +0100)]
robofsm: disable testing code without shape detection.
Michal Vokac [Fri, 30 Dec 2011 14:58:08 +0000 (15:58 +0100)]
motor-control: Check pxms flag and send appropriate status.
If motor IRC to stator alignment is not done (flag PXMS_PHA_m) send status 0x200.
Send error status if any, otherwise send zero.
We are using this for controlling start of the robot.
Do not allow start if motors are not aligned.
Michal Vokac [Fri, 30 Dec 2011 14:49:25 +0000 (15:49 +0100)]
motor-control: Fix wrong condition for disabling feedback.
Use both left and right value for decision.
Michal Vokac [Fri, 30 Dec 2011 14:45:05 +0000 (15:45 +0100)]
displayd: Using est_pos_best for signaling APP status.
Main application puts 0xffff to this when any component is not ready for start.
Than APP is showed orange.
Michal Vokac [Fri, 30 Dec 2011 14:41:51 +0000 (15:41 +0100)]
displayd: Do not display corns configuration!
Michal Vokac [Fri, 30 Dec 2011 14:40:52 +0000 (15:40 +0100)]
camera: Tune recognition parameters.
Michal Vokac [Fri, 30 Dec 2011 14:39:22 +0000 (15:39 +0100)]
camera: Use 5 recognition cycles for result.
Michal Vokac [Fri, 30 Dec 2011 14:37:02 +0000 (15:37 +0100)]
robofsm: Wait max 10 seconds for camera recognition.
Michal Vokac [Fri, 30 Dec 2011 14:36:16 +0000 (15:36 +0100)]
types: Add deadline to APP signalization type for display.
Michal Vokac [Fri, 30 Dec 2011 14:34:50 +0000 (15:34 +0100)]
robofsm: Change close approach target style.
First turn head to target.
Than approach it and at the end turn head to the target.
Michal Vokac [Fri, 30 Dec 2011 10:49:54 +0000 (11:49 +0100)]
robofsm: Update manipulator position.
Michal Vokac [Fri, 30 Dec 2011 08:32:28 +0000 (09:32 +0100)]
Merge branch 'demo' of ssh://rtime.felk.cvut.cz/eurobot/soft into demo
Michal Sojka [Thu, 29 Dec 2011 21:38:44 +0000 (22:38 +0100)]
Update PXMC version
Michal Vokac [Thu, 29 Dec 2011 10:14:17 +0000 (11:14 +0100)]
displayd: Do not show warning status for manipulator.
Michal Vokac [Thu, 29 Dec 2011 10:13:27 +0000 (11:13 +0100)]
eb_pwr: Turn on 3,3V power line at init.
Michal Vokac [Thu, 29 Dec 2011 10:01:34 +0000 (11:01 +0100)]
types: Add deadline to camera result and increase crane status result.
Michal Vokac [Thu, 29 Dec 2011 09:59:46 +0000 (10:59 +0100)]
robofsm: Update camera component status.
Michal Vokac [Thu, 29 Dec 2011 08:49:35 +0000 (09:49 +0100)]
displayd: CRA status field renamed to MAN (manipulator).
Michal Vokac [Thu, 29 Dec 2011 08:10:19 +0000 (09:10 +0100)]
barcam: Fix compile error - this lib is not used now.
Michal Vokac [Thu, 29 Dec 2011 08:02:51 +0000 (09:02 +0100)]
disp-4dgl: Change display screen for demo.
VID status renamed to MAN.
Do not show corns configuration.
Michal Vokac [Wed, 28 Dec 2011 20:06:35 +0000 (21:06 +0100)]
Merge branch 'demo' of ssh://rtime.felk.cvut.cz/eurobot/soft into demo
Michal Vokac [Wed, 28 Dec 2011 20:05:54 +0000 (21:05 +0100)]
eb_demo: Change stat button handling.
Now release of button is not needed for start to be processed.
After holding button for 100ms homing/stop is done.
After holding button for 1 second, start is send.
Michal Vokac [Fri, 16 Dec 2011 18:13:12 +0000 (19:13 +0100)]
camera: Do not release frame!
This causes segmentation fault - trying to capture frame to NULL pointer.
Michal Vokac [Fri, 16 Dec 2011 18:12:05 +0000 (19:12 +0100)]
camera: Automatically disable GUI when compiling for PPC.
Michal Vokac [Fri, 16 Dec 2011 18:10:55 +0000 (19:10 +0100)]
robofsm: Crane now working as expected.
TODO: decrease movement speed!
Michal Vokac [Fri, 16 Dec 2011 18:09:47 +0000 (19:09 +0100)]
robofsm: Disable camera at start-up.
Michal Vokac [Fri, 16 Dec 2011 18:08:23 +0000 (19:08 +0100)]
robofsm: Target detection
Do not return true when target detected but out of range!
Simply return number of detected targets inside playground.
Michal Vokac [Fri, 16 Dec 2011 15:37:04 +0000 (16:37 +0100)]
camera: Set ROI to tested area.
Decreased the area where the recognition is done.
This increase speed and decrease memory and CPU usage on PPC.
Michal Vokac [Fri, 16 Dec 2011 15:35:20 +0000 (16:35 +0100)]
camera: Release images and free memory usage!
Michal Sojka [Thu, 15 Dec 2011 21:17:05 +0000 (22:17 +0100)]
libjpeg must be enabled to compile things correctly for powerpc
Michal Sojka [Thu, 15 Dec 2011 21:03:02 +0000 (22:03 +0100)]
Change submodule URLs to absolute ones
This should fix buildbot failures. In master, this change has already
been done.
Michal Vokac [Thu, 15 Dec 2011 19:38:24 +0000 (20:38 +0100)]
robofsm: Better move_around error handling.
When can not reach new point for survey, stay where you are and survey.
Michal Vokac [Thu, 15 Dec 2011 19:35:13 +0000 (20:35 +0100)]
robofsm: remove unused events
Michal Vokac [Thu, 15 Dec 2011 19:29:51 +0000 (20:29 +0100)]
robofsm: remove unused variable
Michal Vokac [Thu, 15 Dec 2011 18:43:45 +0000 (19:43 +0100)]
robofsm: Test loading target without camera recognition.
Michal Vokac [Thu, 15 Dec 2011 18:43:08 +0000 (19:43 +0100)]
robofsm: Better approach target function.
do:
- turn head to target
- go forward small step
while: hokuyo minimum is greater then close to target
Michal Vokac [Thu, 15 Dec 2011 18:40:16 +0000 (19:40 +0100)]
robofsm: Fix wrong manipulation with crane.
Did not wait after crane down movement done.
Tune down position.
Michal Vokac [Thu, 15 Dec 2011 18:38:01 +0000 (19:38 +0100)]
robofsm: Decrease go backward distance.
Michal Vokac [Thu, 15 Dec 2011 18:37:29 +0000 (19:37 +0100)]
robofsm: Decrease hokuyo range when touching target.
Michal Vokac [Thu, 15 Dec 2011 18:35:41 +0000 (19:35 +0100)]
robofsm: Fix homing position bug - wrong units.
Michal Vokac [Thu, 15 Dec 2011 18:34:15 +0000 (19:34 +0100)]
robofsm: Obstacle avoidance controlled with one function.
Michal Vokac [Thu, 15 Dec 2011 18:32:44 +0000 (19:32 +0100)]
robofsm: Add debugging printouts.
Michal Vokac [Thu, 15 Dec 2011 00:56:18 +0000 (01:56 +0100)]
robofsm: Add condition for target valid but not loaded.
What to do then?
Michal Vokac [Thu, 15 Dec 2011 00:55:00 +0000 (01:55 +0100)]
robfsm: Add one cell to safe target approach radius.
Michal Vokac [Thu, 15 Dec 2011 00:54:12 +0000 (01:54 +0100)]
Remove NOP :)
Michal Vokac [Thu, 15 Dec 2011 00:53:08 +0000 (01:53 +0100)]
displayd: Update camera variables to new types.
Michal Vokac [Thu, 15 Dec 2011 00:52:40 +0000 (01:52 +0100)]
robofsm: Add FSM substates for target touch and load.
Michal Vokac [Thu, 15 Dec 2011 00:50:52 +0000 (01:50 +0100)]
robofsm: Start using camera recognition in demo FSM.
Add new FSM event on camera recognition done.
Michal Vokac [Thu, 15 Dec 2011 00:44:30 +0000 (01:44 +0100)]
robofsm: Add very slow trajectory constraints.
Michal Vokac [Thu, 15 Dec 2011 00:43:55 +0000 (01:43 +0100)]
robofsm: Update home position.
Start from the center of the playground.
Finish at the same angle as start.
Michal Vokac [Thu, 15 Dec 2011 00:28:12 +0000 (01:28 +0100)]
robofsm: Motion control tuning - use smaller gains.
This helps when robot is lost, if output from regulator is to large,
robot behaves and moves too quickly which is dangerous!
Michal Vokac [Thu, 15 Dec 2011 00:20:34 +0000 (01:20 +0100)]
pathplan: Decrease map cell size.
The PPC board is overloaded when using smaller map cell size.
Using cell size of 50mm instead of 100mm causes 4 times longer for cycles over whole map size.
This cause long delays in map_handling thread and problem with motion control feedback!
Michal Vokac [Thu, 15 Dec 2011 00:15:48 +0000 (01:15 +0100)]
camera: Enable ORTE communication in barcam.
Michal Vokac [Sun, 11 Dec 2011 13:15:50 +0000 (14:15 +0100)]
robofsm: Clear state events in MAIN FSM.
Michal Vokac [Sun, 11 Dec 2011 13:09:56 +0000 (14:09 +0100)]
robofsm: FSM state approach_target tuning.
Cycle over all detected targets and approach them.
After successful approach go to sub automaton and do recognition.
If target loaded, go home.
Michal Vokac [Sun, 11 Dec 2011 12:59:33 +0000 (13:59 +0100)]
robofsm: FSM state survey tuning.
Michal Vokac [Sun, 11 Dec 2011 12:55:54 +0000 (13:55 +0100)]
robofsm: Tune function for target detection.
Run shape detection and store centers of all detected targets in a global variable (vector).
Michal Vokac [Sun, 11 Dec 2011 12:52:45 +0000 (13:52 +0100)]
robofsm: Add functions for counting approach point and angle for specified target position.
Michal Vokac [Sun, 11 Dec 2011 12:45:16 +0000 (13:45 +0100)]
robofsm: Obstacle avoidance tuning.
motion-control:
- count only with the center of the robot
map_handling:
- add ignore closer than functionality
fsmmove:
- count a real free space in front of the robot
Michal Vokac [Sun, 11 Dec 2011 01:35:25 +0000 (02:35 +0100)]
robofsm: Fix message print - add new line char.
Michal Vokac [Sun, 11 Dec 2011 01:33:27 +0000 (02:33 +0100)]
robodim: Add target dimensions and clear this file.
Michal Vokac [Sun, 11 Dec 2011 01:31:30 +0000 (02:31 +0100)]
Get rid of sharp_pos type.
I think there is too many position types used in the code.
I tend to use only these from robottype.h.
Michal Vokac [Fri, 9 Dec 2011 16:05:56 +0000 (17:05 +0100)]
robofsm: Add constant for close target value.
Michal Vokac [Fri, 9 Dec 2011 16:05:17 +0000 (17:05 +0100)]
robofsm: Tune detect_target function.
Check if any target detected first and then do other things.