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Run Demo A Z

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Chenhao Wu edited this page Aug 2, 2021 · 1 revision

Step 0: Preparation

  • **Connect the RoboMaster and Raspberry Pi according to the wiring configuration instructed in the README.md**

  • Ensure the connectivity of lamppost 258 259 and 260

    (the environment on these lamppost are all ready to go)

    • IP of 258: 10.30.183.12

    • IP of 259: 10.30.183.13

    • IP of 260: 10.30.183.14

    • ssh command:

      $ ssh nclab@${node_id} -p 5512

  • Clibrate the Camera to obtain an xml file like this file

    • Download and compile the program to calibration camera

    • Config the calibration_config.xml to adjust the calibration parameters

      The important parameters all <Input></Input>

      • If video stream are used:
      <Input>udp://0.0.0.0:[VIDEO_PORT]</Input>

      • If video file are used:

        <Input>"path to file"</Input>

    • Find the printed chessboard in Room 317B:

      Chessboard

    • If you want to calibrate the camera use live video

      1. Ensure the video stream is connectable and decodable

      2. Config calibration_configuration.xml

      3. Launch the calibration program:

      $ ./calibration_camera [path to calibration_configuration.xml]
      1. Press 'n' to start calibration
        • Hold up the chess board and stand in front of the camera so that the camera should shoot out the entire board;
        • Try different poses of chess board by rotating and moving further or closer to the camera;
        • Stop when the program indicating the calibration is finished

    • If you want to calibrate the camera use video file (recommended for calibrating on lampposts)

      1. Start recoding the video file:

        • Hold up the chessboard and stand in front of the camera so that the camera could shoot out the entire board;
        • Try different poses of chessboard by rotating and moving further or closer to the camera;
        • Record the video long enough (no less than 1 minutes) to ensure there are sufficient frames used for calibrating the camera;
        • Save the recorded video, e.g. /tmp/video.mp4

      2. Config calibration_configuration.xml

      3. Launch the calibration program:

        $ ./calibration_camera [path to calibration_configuration.xml]

    • When the program stops, a calibration file will be generated like this

    • More information about OpenCV camera calibration: OpenCV Camera Calibration Tutorial

  • Setup gpsref.xml

    • The gpsref.xml file consists of 3 sections:

      <?xml version="1.0"?>
<RefPoints>
    <RefPoint>
        <aruco_id>10</aruco_id>
        <x>1.0</x>
        <y>0.0</y>
    </RefPoint>
    <Origin>
        <longitude>22.0</longitude>
        <latitude>114.0</latitude>
    </Origin>
    <Metric>
        <longitude_diff_in_xm>1.0</longitude_diff_in_xm>
        <longitude_diff_in_ym>0.0</longitude_diff_in_ym>
        <latitude_diff_in_xm>0.0</latitude_diff_in_xm>
        <latitude_diff_in_ym>1.0</latitude_diff_in_ym>
    </Metric>
</RefPoints>

    • RefPoint: x,y coordinate of Roadblock to be used as reference roadblock

      • aruco_id: ID of ArUco marker on the roadblock
      • x: x coordinate
      • y: y coordinate

    • Origin: gps coordinate of the (0,0) point in the virtual coordinate system

    • Metric: to quantify how the longitude and latitude differs along x and y axis of the virtual coordinate system

Step 1: Setup BATS Network

The communication backbone of the lamppost are built up on BATS protocol: one can refer to wiki and

  • Basic Steps to initial a BATS Network

    • login to lamppost 258, 259, and 260;

    • move the current directory to /home/nclab/tmp/batspro2 where the latest version BATS Protocol locates in;

    • goto ${batspro2}/Setup and run

      # To start link controller
$ linkctr-setup -n ${node-id}

# To start bats protocol
$ btp-setup -n ${node-id}

  • You can use send-recv test to ensure the BATS Network is correctly established;

  • MUST DO!!!: You must check the brt_table in ${batspro2}/Setup/brt_tables to guarantee the routing table is correct, otherwise the packet cannot be routed to the expected destination!

Step 2: Run Lamppost Host Program

  • Fetch the lateset Infra-Autopilot-Assitant Repository follow the instructions

  • Write configuration file

    • For node 260, which is selected as a root node:

      [Networking]
LocalBATSAddr = 0.0.1.4
RootBATSAddr = 0.0.1.4
RootBATSPort = 100
IsRootNode = 1

[RBDetection]
Camera1 = udp://0.0.0.0:8000/
Camera2 = udp://0.0.0.0:8001/
Cam1RefMarker = 10
Cam2RefMarker = 10
MarkerSize = 0.5
FrameIncrement = 100
CalibrationFile = _config/webcam_640x480.xml
GPSReferenceFile = _config/gpsref.xml

[Robot]
CtrlPan = 0
CtrlAddr = 1
RootPan = 0
RootAddr = 0

[Database]
Host = 10.26.1.16
User = lamppost-autopilot
Database = lamppost_runtime
Password = *****

[Arena]
Width = 20.0
Height = 20.0
GridSize = 0.1

      The sample file is available at https://github.com/Vito-Swift/Infra-Autopilot-Assistant/blob/dev/_config/lamp260.ini

    • For node 258 and 259, which is selected as slave nodes:

      [Networking]
LocalBATSAddr = 0.0.1.2
RootBATSAddr = 0.0.1.4
RootBATSPort = 100

[RBDetection]
Camera1 = udp://0.0.0.0:8000/
Camera2 = udp://0.0.0.0:8001/
Cam1RefMarker = 10
Cam2RefMarker = 10
MarkerSize = 0.5
FrameIncrement = 100
CalibrationFile = _config/webcam_640x480.xml
GPSReferenceFile = _config/gpsref.xml

      The sample file is available at:

  • Run the Lamppost Program

    > ./LamppostHost --config_file ${CONFIG_FILE}

  • You can examine whether the host program launched successfully by querying the backend database (specified in [DATABASE] section in the ini file on the ROOT program)

    $ mysql -u lamppost-autopilot -p

mysql> select * from Lamppost;
+---------+---------------------+--------+
| addr    | last_seen           | row_id |
+---------+---------------------+--------+
| 0.0.1.3 | 2021-07-23 15:47:25 | 119594 |
| 0.0.1.4 | 2021-07-23 15:47:25 | 119595 |
| 0.0.1.3 | 2021-07-23 15:47:26 | 119596 |
| 0.0.1.4 | 2021-07-23 15:47:26 | 119597 |
| 0.0.1.3 | 2021-07-23 15:47:27 | 119598 |
| 0.0.1.4 | 2021-07-23 15:47:27 | 119599 |
| 0.0.1.3 | 2021-07-23 15:47:28 | 119600 |
| 0.0.1.4 | 2021-07-23 15:47:28 | 119601 |
| 0.0.1.3 | 2021-07-23 15:47:29 | 119602 |
| 0.0.1.4 | 2021-07-23 15:47:29 | 119603 |
| 0.0.1.3 | 2021-07-23 15:47:30 | 119604 |
| 0.0.1.4 | 2021-07-23 15:47:30 | 119605 |

......

Step 3: Control the lamppost host program in root by using lmphostctl

  • Command 1: Stop all the lamppost Host Programs

    ./lmphostctl --service stop

  • Command 2: Start demostration

    ./lmphostctl --service demo --dest_x 0.0 --dest_y 0.0 --config ${PATH_TO_INI_FILE}

  • Command 3: Show statistics

    ./lmphostctl --service stat

  • Command 4: Show log

    ./lmphostctl --service log

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