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Simple open source robot control with low-latency video streaming

branch: master

Merge pull request #4 from thjc/master

Tweaking of aruduino code and deb packages
latest commit d6e2087303
Thor Grimner authored August 22, 2012
Octocat-spinner-32 arduino Fix up dependency on .ino file August 18, 2012
Octocat-spinner-32 bin DT: Move espeak-data to precompiled zip November 24, 2011
Octocat-spinner-32 debian fix up init scripts and deb package dependencies August 18, 2012
Octocat-spinner-32 etc rename binaries to something more unique and add server as a service May 08, 2012
Octocat-spinner-32 include Add pad bytes to header and pack structures so they are 64bit compatible June 22, 2012
Octocat-spinner-32 manifests Add vagrant configuration November 25, 2011
Octocat-spinner-32 plugins Add light/illumination support June 22, 2012
Octocat-spinner-32 sam Enable building from OS X. Switch to SAM for Linux/OS X November 27, 2011
Octocat-spinner-32 .gitignore add arduino build output and some other ignores August 18, 2012
Octocat-spinner-32 Makefile rename binaries to something more unique and add server as a service May 08, 2012
Octocat-spinner-32 README Added emoticon removal from spoken text to client. Prevents client fr… November 25, 2011
Octocat-spinner-32 Vagrantfile Add vagrant configuration November 25, 2011
Octocat-spinner-32 capture.cpp Added support for (and made default) eSpeak and client-switchable voices November 24, 2011
Octocat-spinner-32 cli-make.bat Added support for (and made default) eSpeak and client-switchable voices November 24, 2011
Octocat-spinner-32 cli-make.sh Enable building from OS X. Switch to SAM for Linux/OS X November 27, 2011
Octocat-spinner-32 cli-w32.ico Added windows tools and resources March 30, 2011
Octocat-spinner-32 cli-w32.rc Added windows tools and resources March 30, 2011
Octocat-spinner-32 cli.c Add pad bytes to header and pack structures so they are 64bit compatible June 22, 2012
Octocat-spinner-32 cli_term.c Added support for (and made default) eSpeak and client-switchable voices November 24, 2011
Octocat-spinner-32 oswrap.c Fix up Linux serial initialisation May 08, 2012
Octocat-spinner-32 rc-make.bat (linux) compile script for plugins April 14, 2011
Octocat-spinner-32 rc-make.sh Enable building from OS X. Switch to SAM for Linux/OS X November 27, 2011
Octocat-spinner-32 speech.c Just cleanup. Meh. November 29, 2011
Octocat-spinner-32 srv-make.bat Added support for (and made default) eSpeak and client-switchable voices November 24, 2011
Octocat-spinner-32 srv-make.sh change opencv libname to ubuntu precise version May 08, 2012
Octocat-spinner-32 srv.c Debug code from JonasB added (and commented out) December 02, 2011
Octocat-spinner-32 utils.c DT: Added support for visemes - needs cleanup November 25, 2011
Octocat-spinner-32 w32-precompiled.zip DT: Move espeak-data to precompiled zip November 24, 2011
README
An UDP-based robot control application with a strong focus on very low latency. Video and control information is lossy, but the application also provides a secured channel for non-lossy communications where required.

Developed for the KiwiRay project - an easy to build, open hardware omnidirectional robot platform.

The system is now general purpose and all KiwiRay related code is now contained in plugins.

RoboCortex in it's basic form contains a server (with text-to-speech and video sourcing, using x264 for encoding) and a client (basic WASD+mouse control scheme and command prompt, using ffmpeg for video decoding).

The KiwiRay plugins adds functionality for controlling an Arduino via a serial interface and provides prompts for text/command input, an emoticon display (KiwiEmotion) and other implementation specific code.

Also included is a plugin called Monitor or MON9 which can be used in a video surveilance system with up to 9 cameras. This is provided to demonstrate that the system can be used for a wide variety of projects.

RoboCortex is cross-platform and compiles under Windows, Linux and MacOSX.

The default speech library is now eSpeak, but SAM is still available if you want to go back to prime time of the C64. SAM is an old TTS from the C64 (Software Automatic Mouth) and the source code is based on the assembly to C port by Sebastian Macke. The ./sam/ folder contains this library and if you wish to use it, it must be called prior to compiling the server and client executables - it is not part of the current main build scripts.

To build on Windows you might want to save yourself the trouble of manually compiling several open-source projects and simply extract the necessary includes, pre-compiled libraries and dlls from the w32-precompiled.zip archive. All contained files goes on top of the RoboCortex folder after which everything should compile immediately and without external dependencies, using MinGW.

Project is developed and maintained by stg, phrst and jonasb of Forskningsavdelningen - www.forskningsavd.se
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