ME/CS 132a, Winter 2011, Lab 1 - Revision history

Hanshuo: moved ME/CS 132a, Winter 2010, Lab 1 to ME/CS 132a, Winter 2011, Lab 1: Incorrect year

2011-03-16T06:51:57Z

moved ME/CS 132a, Winter 2010, Lab 1 to ME/CS 132a, Winter 2011, Lab 1: Incorrect year

← Older revision		Revision as of 06:51, 16 March 2011
(No difference)

Hanshuo: /* Exercise #3: Controlling the Robot Using Player and Client Code */

2011-02-05T02:11:18Z

Exercise #3: Controlling the Robot Using Player and Client Code

← Older revision		Revision as of 02:11, 5 February 2011
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	In Exercise #2, we have made the robot move in a controlled fashion by inserting our client code. Now let us learn how to control a real robot using the same client code. You will only be able to do the following during the lab session, but it can save you a lot of precious lab time if you read this beforehand:		In Exercise #2, we have made the robot move in a controlled fashion by inserting our client code. Now let us learn how to control a real robot using the same client code. You will only be able to do the following during the lab session, but it can save you a lot of precious lab time if you read this beforehand:
	# ~~Connect~~ to the ~~onboard~~ laptop ~~via SSH~~ and copy your code/binaries to the laptop. This is similar to connecting to the course server, but with a different username and remote address, ~~which will be given by the TA during the lab session~~.		# When you are in the lab, connect to the lab wireless network ''arena''.
			# SSH to the laptop and copy your code/binaries to the laptop. This is similar to connecting to the course server, but with a different username and remote address:
			#* Username: me132
			#* IP address: 10.0.126.13 (laptop #1, aka ''honolulu''), 10.0.126.14 (laptop #2, aka ''hilo'')
	# Go to the <TT>configs</TT> directory. Use <TT>pioneer2.cfg</TT> or <TT>pioneer2_laser.cfg</TT> (when there is a laser scanner onboard) as the config file to run Player:<br><tt>$ cd ~/configs </tt><BR> <TT>$ player pioneer2.cfg</TT><BR>or <BR> <TT>$ player pioneer2_laser.cfg</TT><BR>Both config files will be given during the lab session. Note we do not give a RPIN during the lab session. Instead, we use the default one for convenience, since there won't be any other active users.		# Go to the <TT>configs</TT> directory. Use <TT>pioneer2.cfg</TT> or <TT>pioneer2_laser.cfg</TT> (when there is a laser scanner onboard) as the config file to run Player:<br><tt>$ cd ~/configs </tt><BR> <TT>$ player pioneer2.cfg</TT><BR>or <BR> <TT>$ player pioneer2_laser.cfg</TT><BR>Both config files will be given during the lab session. Note we do not give a RPIN during the lab session. Instead, we use the default one for convenience, since there won't be any other active users.
	# Open another terminal window. Connect to the laptop, and start your own client program as in Exercise #2. You should see the robot move in your desired fashion. For <tt>me132_tutorial_0</tt> to <tt>me132_tutorial_2</tt>, run them as before, but without the RPIN (to be consistent with Step 2). For <tt>me132_tutorial_3</tt>, you need to run it with one additional parameter, the '''camera ID''', which will be given during the lab session: <br><tt>$ ./me132_tutorial_3 <camera_id></tt><br> You will also need to copy the corresponding camera calibration file to the directory where <tt>me132_tutorial_3</tt> is located: <br><tt>$ cp ~/bb2_cal/<camera_id>.cal .</tt>		# Open another terminal window. Connect to the laptop, and start your own client program as in Exercise #2. You should see the robot move in your desired fashion. For <tt>me132_tutorial_0</tt> to <tt>me132_tutorial_2</tt>, run them as before, but without the RPIN (to be consistent with Step 2). For <tt>me132_tutorial_3</tt>, you need to run it with one additional parameter, the '''camera ID''', which will be given during the lab session: <br><tt>$ ./me132_tutorial_3 <camera_id></tt><br> You will also need to copy the corresponding camera calibration file to the directory where <tt>me132_tutorial_3</tt> is located: <br><tt>$ cp ~/bb2_cal/<camera_id>.cal .</tt>

Hanshuo: /* Exercise #2: Running Player/Stage with Your Own Client Code (Controller) */

2011-02-05T02:02:56Z

Exercise #2: Running Player/Stage with Your Own Client Code (Controller)

← Older revision		Revision as of 02:02, 5 February 2011
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	In Exercise #1, we have seen the simulated robot wander around, but now let's make it move in a controlled fashion by inserting our own controller (referred to as the ''client code'').		In Exercise #1, we have seen the simulated robot wander around, but now let's make it move in a controlled fashion by inserting our own controller (referred to as the ''client code'').
	# Follow the instructions as in Exercise #1, but this time use another config file:<BR> <TT>$ player lab0014.cfg -p <your_RPIN></TT>		# Follow the instructions as in Exercise #1, but this time use another config file:<BR> <TT>$ player lab0014.cfg -p <your_RPIN></TT>
	# Open another terminal window. Connect to the server, and change to the directory containing the tutorial client code:<BR><TT>$ cd ~~client_code~~ </TT>		# Open another terminal window. Connect to the server, and change to the directory containing the tutorial client code, e.g.:<BR><TT>$ cd part1/me132_tutorial_player </TT>
	# Compile the C++ code to generate the binaries (i.e. executables). You only need to do this once, unless you change the source C++ code (<TT>.cc</TT> files): <BR><TT>$ make</TT> <BR>		# Compile the C++ code to generate the binaries (i.e. executables). You only need to do this once, unless you change the source C++ code (<TT>.cc</TT> files): <BR><TT>$ make</TT> <BR>
	# Run the following to start the client program. Take <TT>me132_tutorial_0</TT> as an example: <BR><TT>$ ./me132_tutorial_0 -p <your_RPIN></TT>		# Run the following to start the client program. Take <TT>me132_tutorial_0</TT> as an example: <BR><TT>$ ./me132_tutorial_0 -p <your_RPIN></TT>

Hanshuo: /* Running Player/Stage */

2011-02-05T02:01:20Z

Running Player/Stage

← Older revision		Revision as of 02:01, 5 February 2011
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	=== Running Player/Stage ===		=== Running Player/Stage ===
	# Change directory to the appropriate path that contains the player configuration file: <BR><TT>$ cd configs </TT>		# Change directory to the appropriate path that contains the player configuration file: <br><tt>$ cd part1/me132_tutorial_player/configs</tt>
	# Start up Player, using the test config file: <BR> <TT>$ player simple.cfg -p <your_RPIN></TT>		# Start up Player, using the test config file: <BR> <TT>$ player simple.cfg -p <your_RPIN></TT>
	#* <TT>your_RPIN</TT> is your robot port ID number which you were already assigned.		#* <TT>your_RPIN</TT> is your robot port ID number which you were already assigned.

Hanshuo: /* Exercise #3: Controlling the Robot Using Player and Client Code */

2011-02-05T01:58:40Z

Exercise #3: Controlling the Robot Using Player and Client Code

← Older revision		Revision as of 01:58, 5 February 2011
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	In Exercise #2, we have made the robot move in a controlled fashion by inserting our client code. Now let us learn how to control a real robot using the same client code. You will only be able to do the following during the lab session, but it can save you a lot of precious lab time if you read this beforehand:		In Exercise #2, we have made the robot move in a controlled fashion by inserting our client code. Now let us learn how to control a real robot using the same client code. You will only be able to do the following during the lab session, but it can save you a lot of precious lab time if you read this beforehand:
	# Connect to the onboard laptop via SSH and copy your code/binaries to the laptop. This is similar to connecting to the course server, but with a different username and remote address, which will be given by the TA during the lab session.		# Connect to the onboard laptop via SSH and copy your code/binaries to the laptop. This is similar to connecting to the course server, but with a different username and remote address, which will be given by the TA during the lab session.
	# Go to the <TT>configs</TT> directory. Use <TT>pioneer2.cfg</TT> or <TT>pioneer2_laser.cfg</TT> (when there is a laser scanner onboard) as the config file to run Player:<BR> <TT>$ player pioneer2.cfg</TT><BR>or <BR> <TT>$ player pioneer2_laser.cfg</TT><BR>Both config files will be given during the lab session. Note we do not give a RPIN during the lab session. Instead, we use the default one for convenience, since there won't be any other active users.		# Go to the <TT>configs</TT> directory. Use <TT>pioneer2.cfg</TT> or <TT>pioneer2_laser.cfg</TT> (when there is a laser scanner onboard) as the config file to run Player:<br><tt>$ cd ~/configs </tt><BR> <TT>$ player pioneer2.cfg</TT><BR>or <BR> <TT>$ player pioneer2_laser.cfg</TT><BR>Both config files will be given during the lab session. Note we do not give a RPIN during the lab session. Instead, we use the default one for convenience, since there won't be any other active users.
	# Open another terminal window. Connect to the laptop, and start your own client program as in Exercise #2. You should see the robot move in your desired fashion. For <tt>me132_tutorial_0</tt> to <tt>me132_tutorial_2</tt>, run them as before, but without the RPIN (to be consistent with Step 2). For <tt>me132_tutorial_3</tt>, you need to run it with one additional parameter, the '''camera ID''', which will be given during the lab session: <br><tt>$ ./me132_tutorial_3 <camera_id></tt><br>		# Open another terminal window. Connect to the laptop, and start your own client program as in Exercise #2. You should see the robot move in your desired fashion. For <tt>me132_tutorial_0</tt> to <tt>me132_tutorial_2</tt>, run them as before, but without the RPIN (to be consistent with Step 2). For <tt>me132_tutorial_3</tt>, you need to run it with one additional parameter, the '''camera ID''', which will be given during the lab session: <br><tt>$ ./me132_tutorial_3 <camera_id></tt><br> You will also need to copy the corresponding camera calibration file to the directory where <tt>me132_tutorial_3</tt> is located: <br><tt>$ cp ~/bb2_cal/<camera_id>.cal .</tt>

Hanshuo: /* Logging into the Player/Stage remote server (Linux/Mac OS X) */

2011-02-04T10:18:53Z

Logging into the Player/Stage remote server (Linux/Mac OS X)

← Older revision		Revision as of 10:18, 4 February 2011
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	=== Logging into the Player/Stage remote server (Linux/Mac OS X) ===		=== Logging into the Player/Stage remote server (Linux/Mac OS X) ===
	# Open a terminal window (that is X-friendly).		# Open a terminal window (that is X-friendly).
	# Connect to robotics via SSH:<BR> <TT>$ ssh -X username@tokyo.cds.caltech.edu</TT> <BR> and enter the password (where ''username'' needs to be replaced with the one received from the TA).		# Connect to robotics via SSH:<BR> <TT>$ ssh -X username@tokyo.cds.caltech.edu</TT> <BR> and enter the password (where <tt>username</tt> needs to be replaced with the one received from the TA).
	#* The "-X" enables X11 forwarding, which is how you'll get the Stage windows and such to appear on your local machine.		#* The "-X" enables X11 forwarding, which is how you'll get the Stage windows and such to appear on your local machine.
	# If this is your first login, be sure to change your password by running: <br><TT>$ passwd</TT>		# If this is your first login, be sure to change your password by running: <br><TT>$ passwd</TT>

Hanshuo: /* Exercise #2: Running Player/Stage with Your Own Client Code (Controller) */

2011-02-04T10:17:57Z

Exercise #2: Running Player/Stage with Your Own Client Code (Controller)

← Older revision		Revision as of 10:17, 4 February 2011
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	== Exercise #2: Running Player/Stage with Your Own Client Code (Controller) ==		== Exercise #2: Running Player/Stage with Your Own Client Code (Controller) ==
	In Exercise #1, we have seen the simulated robot wander around, but now let's make it move in a controlled fashion by inserting our own controller (referred to as the ''client code'').		In Exercise #1, we have seen the simulated robot wander around, but now let's make it move in a controlled fashion by inserting our own controller (referred to as the ''client code'').
	# Follow the instructions as in Exercise #1, but this time use another config file.:<BR> <TT>$ player lab0014.cfg -p <your_RPIN></TT>		# Follow the instructions as in Exercise #1, but this time use another config file:<BR> <TT>$ player lab0014.cfg -p <your_RPIN></TT>
	# Open another terminal window. Connect to the server, and change to the directory containing the tutorial client code:<BR><TT>$ cd client_code </TT>		# Open another terminal window. Connect to the server, and change to the directory containing the tutorial client code:<BR><TT>$ cd client_code </TT>
	# Compile the C++ code to generate the binaries (i.e. executables). You only need to do this once, unless you change the source C++ code (<TT>.cc</TT> files): <BR><TT>$ make</TT> <BR>		# Compile the C++ code to generate the binaries (i.e. executables). You only need to do this once, unless you change the source C++ code (<TT>.cc</TT> files): <BR><TT>$ make</TT> <BR>

Hanshuo: /* Running Player/Stage */

2011-02-04T10:16:25Z

Running Player/Stage

← Older revision		Revision as of 10:16, 4 February 2011
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	=== Running Player/Stage ===		=== Running Player/Stage ===
	# Change directory to the appropriate path that contains the player configuration file: <BR><TT>$ cd configs </TT>		# Change directory to the appropriate path that contains the player configuration file: <BR><TT>$ cd configs </TT>
	# Start up Player, using the ~~Robotics lab world~~ config file: <BR> <TT>$ player simple.cfg -p <your_RPIN></TT>		# Start up Player, using the test config file: <BR> <TT>$ player simple.cfg -p <your_RPIN></TT>
	#* <TT>your_RPIN</TT> is your robot port ID number which you were already assigned.		#* <TT>your_RPIN</TT> is your robot port ID number which you were already assigned.
	#* You should see the Stage simulator and a simulated robot wandering around.		#* You should see the Stage simulator and a simulated robot wandering around.

Hanshuo: /* Logging into the Player/Stage remote server (Windows) */

2011-02-04T10:15:30Z

Logging into the Player/Stage remote server (Windows)

← Older revision		Revision as of 10:15, 4 February 2011
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	# Open up your SSH client program, and change the appropriate settings to enable X11 forwarding.		# Open up your SSH client program, and change the appropriate settings to enable X11 forwarding.
	#* For Putty, this is under "Connection-->SSH-->X11 forwarding"		#* For Putty, this is under "Connection-->SSH-->X11 forwarding"
	# If this is your first login, be sure to change your password by running <TT>passwd</TT> ~~in the command line.~~		# If this is your first login, be sure to change your password by running: <br><TT>$ passwd</TT>

	=== Running Player/Stage ===		=== Running Player/Stage ===

Hanshuo: /* Logging into the Player/Stage remote server (Linux/Mac OS X) */

2011-02-04T10:15:11Z

Logging into the Player/Stage remote server (Linux/Mac OS X)

← Older revision		Revision as of 10:15, 4 February 2011
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	# Connect to robotics via SSH:<BR> <TT>$ ssh -X username@tokyo.cds.caltech.edu</TT> <BR> and enter the password (where ''username'' needs to be replaced with the one received from the TA).		# Connect to robotics via SSH:<BR> <TT>$ ssh -X username@tokyo.cds.caltech.edu</TT> <BR> and enter the password (where ''username'' needs to be replaced with the one received from the TA).
	#* The "-X" enables X11 forwarding, which is how you'll get the Stage windows and such to appear on your local machine.		#* The "-X" enables X11 forwarding, which is how you'll get the Stage windows and such to appear on your local machine.
	# If this is your first login, be sure to change your password by running <TT>passwd</TT> ~~in the command line.~~		# If this is your first login, be sure to change your password by running: <br><TT>$ passwd</TT>

	=== Logging into the Player/Stage remote server (Windows) ===		=== Logging into the Player/Stage remote server (Windows) ===