System Overview †

Software Overview †

FingerVision Video Processing Software †

• FV Software
  • Standalone
  • ROS

FV+Motion (Manipulation) Programming Framework †

Step-by-step Practice †

FingerVision Software †

1. Launch MJPG-Streamer on Raspberry Pi:

   $ ssh ayg@aypiX './stream.sh'

   • Note: Only one person should do this per a Raspberry Pi.
2. Access to http://aypiX:8080/
   • Video stream only (no UI): http://aypiX:8080/?action=stream&dummy=file.mjpg
   • Note: "&dummy=file.mjpg" is not necessary for a web browser, but it is necessary to open with OpenCV (the file extension is needed).
3. Explore the fingervision package.
   • Core programs, standalone programs, ROS packages, CAD, dummy videos, etc.
4. Test standalone programs

   $ cd fingervision/standalone

   • Capture program:

     $ ./capture.out "http://aypiX:8080/?action=stream&dummy=file.mjpg"

   • Marker tracking:

     $ ./blob_tracker2_test.out "http://aypiX:8080/?action=stream&dummy=file.mjpg"

   • Proximity vision:

     $ ./prox_vision_test.out "http://aypiX:8080/?action=stream&dummy=file.mjpg"

5. Test ROS package
   1. Edit /etc/hosts

      $ sudo nano /etc/hosts
      #Add following line:
      192.168.1.2X	pi1 aypi11

      • Why this is necessary? Since the config file provided in the fingervision package assumes the host name of the Raspberry Pi as pi1, we can directly use these config files without modification. It is the same in aypi11; all configuration files for the Mikata Arm system are written for the Raspberry Pi of the host name aypi11.
   2. Launch the ROS node:

      $ roslaunch fingervision fv_2.launch

      • Let's understand the launch file: fv_2.launch
      • Echo the topics.

Robot Control †

1. Make sure to kill the ROS node.
2. Launch the GUI application launcher:

   $ rosrun ay_util mikata_gui.py

   • Click: roscore->roscore
   • Click: System->system
     • Caution: robot powers off
     • Note: Only a user whose PC is connected to the Mikata controller (U2D2) can do this.
   • Click: Mikata->fix_usb
   • Click: Monitor-joy->echo-joy; Monitor-joy->kill
   • Click: aypi11->stream (Not necessary if you executed this previously)
   • Click: fv11->start
3. Launch TUITool

   $ rosrun ay_trick cui_tool.py

4. Setup the robot on CUITool

   > robot 'mikata2'
   > fv.fv 'on'

5. Let's run a joy stick demo:

   > j

6. Try some motions.
   • For the details: Robot motion programming
   • Slip-avoidance control:

     #Start:
     > fv.hold 'on'
     #Stop:
     > fv.hold 'off'

   • Grasp adaptation pickup:

     > fv.pickup2a 'once'

     Or, press Y of the joystick during executing the joystick demo.

Switching the robot †

1. Disconnect the USB hub (Mikata, joystick) from a PC
2. Connect the USB hub to another PC
3. On the GUI application launcher:
   • Click: Mikata->fix_usb

Shutting down: †

1. Quit CUITool:

   > quit

   Or press Ctrl+C and Enter.
2. GUI application launcher:
   • Click: fv11->kill
   • Click: aypi11->stop (if running)
   • Click: rviz->kill
   • Click: Mikata->servo-off
     • Caution: turn-off-motion is executed

       Robot is relaxing... 
       Torque is disabled after 3 sec... 
       Torque is disabled after 2 sec... 
       Torque is disabled after 1 sec...

   • Click: System->kill
   • Click: roscore->kill
   • Click: main->Exit