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Laser Tower Of Death revival #1

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jgvictores opened this issue Jun 22, 2018 · 7 comments
Open

Laser Tower Of Death revival #1

jgvictores opened this issue Jun 22, 2018 · 7 comments
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@jgvictores
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From @jgvictores on May 13, 2018 10:17

Laser Tower Of Death revival (edited from RD Turret, which is in fact another one).

Robot: https://github.com/asrob-uc3m/robotDevastation-robots/tree/develop/laserTowerOfDeath (permalink).

Copied from original issue: asrob-uc3m/robotDevastation#132

@jgvictores
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Will be focusing on other robots for now, namely RD Ambassador #136 as it is easy to build (you buy the chassis). 😄

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@PeterBowman
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We learned yesterday that the dual webcam does not support compressed formats. In order to be able to capture frames from both sensors at the same time, image resolution has to be lowered to 320x240 (default/max is 640x480). Also, we noticed that the resulting distortion map from this stereo setup is rather crappy poor. @imontesino may want to share his Python script here to illustrate this point. See also https://superuser.com/a/433237.

Besides, we managed to command the robot with incremental steps thanks to asrob-uc3m/yarp-devices#20. However, camera roll (panl) doesn't respond accurately to provided angles, that is, the corresponding servomotor may not act upon successive small increments and produces a steady, noisy sound (as compared with the pitch motor). Since we aim to perform visual servoing, the lack of a stable turn on the horizontal plane is going to become a blocking issue, soon. A hardware replacement has been suggested.

@jgvictores
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We do have some info buried in the wiki with some interesting links (there was a person with a ROS project doing stereo, but maybe a better approach is using modern icub/yarp code): http://asrob.uc3m.es/index.php/MINORU

As can be seen in the command line code, the trick we used to do was to reduce the framerate to 15 fps. In fact, the patch on YARP so opencv_grabber does this is actually mine if I recall correctly. 😄

@PeterBowman
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In fact, the patch on YARP so opencv_grabber does this is actually mine if I recall correctly. smile

For future reference: robotology/yarp@35e99b1 + some background at robotology/yarp#422.

@PeterBowman
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A hardware replacement has been suggested.

Work in progress, the weaker servo (pan motion) is going to be replaced by a similar model as it's currently used for tilting the camera. Due to a higher current draw requirement, the Arduino Duemilanove board might be ultimately replaced by a Freaduino (1.7 A). As it is now, a new base with more room for the bigger servo is being actively developed. Since we may lack the necessary spare parts, a 3D-printable piece was suggested.

@PeterBowman
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As it is now, a new base with more room for the bigger servo is being actively developed.

Done, the rotating base is now capable of performing fluid pan motions thanks to a more decent servo. No changes in code were required apart from asrob-uc3m/yarp-devices#21.

@jgvictores jgvictores moved this from In progress to To do in Robot Devastation May 7, 2019
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