AU Robot Servers
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− | + | ==Base Documentation== | |
− | + | ====Programming API documentation==== | |
− | + | '''AU Robot servers (AURC)''' | |
− | + | AURS class documentation http://aut.elektro.dtu.dk/mobotware/doc/html/classes.html | |
− | + | '''Open CV''' | |
− | + | http://docs.opencv.org/ | |
− | + | '''Point Cloud Library''' | |
− | + | http://pointclouds.org/documentation/ | |
− | + | [[Mobotware Changes for 18.04]] | |
− | + | ====Servers==== | |
− | Camera server [[ucamserver]] | + | ===== Camera server ===== |
+ | The camera server - see [[ucamserver]] for use details - is pre-configured for camera related functionality. | ||
− | Laser scanner server | + | ===== Laser scanner server ===== |
− | + | The laser scanner server - see [[ulmsserver]] for details - is optimized for functions using laser scanner data. | |
− | + | ===== Client for monitoring (auclient) ===== | |
− | + | A data monitoring client [[auclient]] is a server pre-configured to display graphics on an x-console. It should be executed on a computer with a screen, i.e. not on the robots. | |
− | + | ===== General server ===== | |
− | + | An general server [[userver]] is intended for functionality not related to camera and laser scanners | |
− | + | ||
− | + | =====Server stub===== | |
+ | A server stub [[auservertest]] is a port server that just shows messages from connected clients - with a timestamp. This can e.g. be used to replace the MRC to verify the messages intended for the MRC. | ||
− | == | + | ==Modules (plug-ins)== |
− | + | ====Descriptions==== | |
− | + | Not all plug-in modules has a description on these pages (yet). | |
− | * auavoid.so.0 - | + | * [[auball]] - eksamel ball-finder plugin |
− | * | + | * Raspberry Pi camera plugin ([[aupicam]]) - works only on Raspberry |
− | * | + | * Crop row follower (robotti) camera plugin - aucroprow2.so.0 - by Aske Bay Jakobsen [[Crop row finder]] |
− | * | + | * Time of flight camera - autof.so.0 by Kristian Villien [[Time of flight camera]] |
− | * aucron.so.0 - a module to execute bash commands at regular intervals - e.g. to move logged images at low priority | + | * People detection and tracking - aupplfinder.so.0 by Mikkel Viager [[People tracker]] |
− | * | + | * Obstacle avoidance - auavoidk.so.0 Kaspers intuitive method [[Obstacle Avoidance K]] |
− | * | + | * Obstacle avoidance (visibility graph) auavoid.so.0 - [[Obstacle avoidance - visibility graph]] |
− | * augps.so.0 - | + | * Rule engine (aurule.so.0) [[Rule based scripts]] |
+ | * drivebase.rule - The basis for (HAKO) missions - [[Drivebase.rule]] | ||
+ | * Stereo camera - Videre design device (ausvs.so.0) - [[Videre Design stereo camera plug-in]] | ||
+ | * Kinect camera (aukinect.so.0) - [[Kinect plug-in]] | ||
+ | * Mapped obstacles (aumapobst.so.0) - converts near map lines to obstacle polygons [[Mapped obstacles]] | ||
+ | * Laser obstacles (aulobst.so.0) - make obstacles from laserscan - uses ransac lines [[Laser obstacles]] | ||
+ | * Locater - tree row locater (locater.so.0) - [[locater - tree row]] based on laserscan lines and fluffy lines (tree-rows) and line definitions in mapbase.so.0 | ||
+ | * smr - MRC interface (ausmr.so.0) - [[MRC interface]] holds some routines to control and interface with the MRC, and a smrctl resource to translate manoeuvres to SMRCL. | ||
+ | * Vaiable pool (auvar.so.0) is linked staticalli in all servers - use "module load=var". for variables and methods see [[Variables]] | ||
+ | * Pose and pose history is maintained by odoPose, mapPose and utmPose - see [[Coordinate systems]] | ||
+ | * Map ([[Mapbase]]) using lines and points - with optional attributes (mapbase.so.0) - a plug-in for mapped lines and connected graph of routes | ||
+ | * PCL test plugin ([[aupcltest]]) requires that pcl version >=1.4 is installed. | ||
+ | * auv4lgst gstreamer plugin - experimental - [[gstreamer-plugin]] | ||
+ | * [[auview]] - a 3D viewer for the auclient, shown pointclouds and most of the features that the audisp can show in 2D. | ||
+ | * [[audisp]] - 2D (top view) display of robot, sensor data (e.g. laserscans) an path history. | ||
+ | |||
+ | @todo document these: | ||
+ | |||
+ | * Stereo (aimed for 2 aligned cameras supported by ucamserver) (austereo.so.0) - uses openCV stereo library. | ||
+ | * Slow task scheduler (aucron.so.0) - a module to execute bash commands at regular intervals - e.g. to move logged images at low priority | ||
+ | * Drive control to a specific pose (audrivepos.so.0) - uses auavoid plug-in to find path to pose. | ||
+ | * Roaddrive - a drive controller thet follows a road edge (auroaddrive.so.0) - uses auavoid, ausmr and ulmspassable for path planning. | ||
+ | * Line finder plug-in to find and maintain wall lines (auefline.so.0). Is based on the libauextractfeatures library. | ||
+ | * Gps plug-in (augps.so.0) - maintains an UTM pose from a serial/USB GPS (NMEA) connection. | ||
* aulmsnear.so.0 - a small function to return the closest point in a laserscan as a <laser l0=0.0 .../> type message | * aulmsnear.so.0 - a small function to return the closest point in a laserscan as a <laser l0=0.0 .../> type message | ||
− | + | * ulmspassable.so.0 - extracts road lines from a laserscan (tilted laser) and holds a database of detected obstacles. | |
− | + | * Virtual 360 deg laser scanner device (ulmsv360.so.0). This is also available as static plug-in for the ulmsserver (module load=v360). | |
− | + | * auseq - deprecated sequencer plug-in | |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | * ulmspassable.so.0 - extracts road lines from a laserscan (tilted laser) | + | |
− | * | + | |
− | == | + | ====Coordinate systems==== |
+ | |||
+ | The three [[Coordinate systems]] are available as static: odometry (odoPose), UTM (utmPose) and Map (mapPose) | ||
+ | |||
+ | ====How to make a plugin==== | ||
[[plug-in structure]] | [[plug-in structure]] | ||
+ | |||
+ | ====Variables and functions==== | ||
[[Variables]] (global variables and functions across plugins) | [[Variables]] (global variables and functions across plugins) | ||
− | [[ | + | ====Replay functionality==== |
+ | |||
+ | A data interface can often be logged, and a replay of the interface may then be beneficial for analysis and debugging. | ||
+ | |||
+ | AURS has a replay facility, see [[Replay]] | ||
+ | |||
+ | ==Interface description== | ||
+ | |||
+ | MOBOTWARE is a set of socket servers, each server has 1 port and allows up to 10 simultaneous clients (port numbers used are from 24919 to 24930). | ||
+ | |||
+ | XML consist of tags and text, a tag is in brackets “<” and “>” and may be split into an open tag and a close tag, with some text imbetween e.g. <tagname> some tekst </tagname>. The open tag may have attributes and may have an implicit close tag (named a full tag), e.g.: | ||
+ | <tagname info=”low on power” device=”gps”/>. Attributes must have a value, the value must be in quotes (or apostrophes). | ||
+ | |||
+ | ===Connect=== | ||
+ | |||
+ | When a client connects to a server the server sends an XML opening sequence of XML tags – something like: | ||
+ | |||
+ | <?xml version="1.0" encoding="UTF-8"?>\n | ||
+ | <camServer name="ucamcomp" version="2.182">\n | ||
+ | |||
+ | where “\n” is a “newline character ( ) - all commands and replies are terminated with a newline (handy when decoding commands and when debugging). | ||
+ | |||
+ | The client will reply with a similar sequence, something like: | ||
+ | |||
+ | <?xml version="1.0" encoding="UTF-8"?> | ||
+ | <marg name="paroll client" version="1267"> | ||
+ | |||
+ | This is mandatory to comply with the XML standard (open a “document”). | ||
+ | |||
+ | At the end of the communication there should be a matching close tag: | ||
+ | |||
+ | </marg>\n from MARG | ||
+ | or | ||
+ | </camServer>\n from the camera server | ||
+ | |||
+ | This “end of document” tag has never been mandatory in either MARG nor in our MOBOTWARE servers. | ||
+ | |||
+ | ===Value exchange=== | ||
+ | |||
+ | The client has to initiate any data transfer. | ||
+ | |||
+ | To get a value of some variable, a data request is send to the server: | ||
+ | |||
+ | <var mappose.pose=””/>\n | ||
+ | |||
+ | The server will reply in this format: | ||
+ | <var name="odoPose.pose" typ="pose" size="4" value="1.531 -21.912 -2.026 1286376207.8752" x="1.531" y="-21.912" th="-2.026"/>\n | ||
+ | or | ||
+ | <var warning="not found - try: var help" name="odoPose.poser"/> | ||
+ | or (if the command keyword is misspelled or unknown) | ||
+ | <vur warning="Unsupported function keyword"/> | ||
+ | |||
+ | The return tag name (here var) is the same as in the command. | ||
+ | |||
+ | The important attribute names are: | ||
+ | warning=”” is a general warning to be used if a command can not be executed (other general types are info=”” (debug info) and error=”” (fatal errors). | ||
+ | |||
+ | name=”” is the name of the variable, a “.” indicates that the name prior to the “.” is a structure name, i.e. odoPose is a structure, and pose is a variable name in that structure. Variable names are not case sensitive. | ||
+ | |||
+ | typ=”pose” is the type of a variable, relevant types are “d” (a single or array of double), “pose” a 2D pose (x,y,th), “m2” a matrix of doubles (any size), “s” for a string of any size, but ASCII characters – only tested with 7-bit ASCII with escape sequences as allowed by XML. | ||
+ | |||
+ | size=”4” is the size of the value field, either in characters if a string or number of doubles in all other cases. | ||
+ | |||
+ | Value="1.531 -21.912 -2.026 1286376207.8752" is the value of the variable coded as characters using default C locale, i.e. using “.” as decimal notation (e-notation should be valid too e.g 1.2863762078752e9). | ||
+ | |||
+ | ===Full structure=== | ||
+ | |||
+ | An example of request of a full structure could be (camera device info): | ||
+ | <var campool.device0.allcopy=””/> | ||
+ | |||
+ | The server reply is something like: | ||
+ | |||
+ | <var name="campool.device0.name" typ="s" size="26" value="Logitech Pro 3000"/> | ||
+ | <var name="campool.device0.log" typ="d" size="1" value="0"/> | ||
+ | <var name="campool.device0.replay" typ="d" size="1" value="0"/> | ||
+ | <var name="campool.device0.intrinsic" typ="m2" size="9" value="709 0 320; 0 709 240; 0 0 1"/> | ||
+ | <var name="campool.device0.distortion" typ="m2" size="5" value="-0.207 0.2813 0.0013 0.0036 -0.3"/> | ||
+ | <var info="done"/> | ||
+ | |||
+ | The matrix value uses a “;” to indicate a new row, i.e. the intrinsic matrix above is a 3x3 matrix. | ||
+ | |||
+ | ===Set value=== | ||
+ | |||
+ | A value is changed (if allowed) like this: | ||
+ | <var campool.device0.log="1"/> | ||
+ | |||
+ | Server reply is something like: | ||
+ | <var name="camPool.device0.log" typ="d" size="1" value="1" oldValue="0"/> | ||
+ | |||
+ | The oldValue attribute is just for debug info. | ||
+ | |||
+ | ===Get value to another server=== | ||
+ | |||
+ | When a server is connected to another server, the variables accessible with the VAR command can be transferred from the other server, e.g. the values in the guidemark structure on the camera server to be available in the laser scanner server. | ||
+ | |||
+ | The laser scanner server needs a connection to the camera server, e.g.: | ||
+ | |||
+ | >> module load=if alias=cam | ||
+ | >> cam connect=localhost:24920 | ||
+ | |||
+ | Then to get updated values every time the GMK structure is updated, add this command to the laser scanner server: | ||
+ | |||
+ | >> cam varpush struct=gmk cmd="var gmk copy" | ||
+ | |||
+ | This will put the structure and all the variables in the structure in a special structure on the laser scanner server called VAR, i.e. the var directory will now hold a GMK structure (when this is updated in the camera server): | ||
+ | |||
+ | >> '''var var.gmk''' | ||
+ | <help subject="var list" name="gmk"> | ||
+ | Description: new | ||
+ | imageSerial=11 1021 added | ||
+ | count=0 added | ||
+ | IDs=0 added | ||
+ | gmkPose=0 0 0 0 0 0 added | ||
+ | robPose=0 0 0 0 0 0 added | ||
+ | gmkcamPose=0 0 0 0 0 0 added | ||
+ | vertical=1 added | ||
+ | diagonal=0 added | ||
+ | (H: has time series, L: is logged, R: replay) | ||
+ | </help> | ||
+ | |||
+ | To get the structure anywhere else (e.g. in the root, as on the camera server) use the destination option: | ||
+ | |||
+ | >> cam varpush struct=gmk cmd="var gmk copy dest=." | ||
+ | |||
+ | The period in the destination (dest=.) marks that it should be placed in the root of the variable system - rather than the special VAR structure. | ||
+ | |||
+ | Note that the description of the variables is not included. To get the description the DESC option will do it: | ||
+ | |||
+ | >> cam var gmk copy dest=. desc | ||
+ | <help subject="var list" name="gmk"> | ||
+ | Description: new | ||
+ | imageSerial=11 1021 (r) camera number and serial number of image used in | ||
+ | search | ||
+ | count=0 (r) Number of guidemarks found | ||
+ | IDs=0 (r) ID codenumber (in decimal) of the found guidemarks | ||
+ | gmkPose=0 0 0 0 0 0 (r) pose of first guidemark in robot coordinates | ||
+ | (x,y,z,O,P,K) x=forward, y=left z=up [meter], O,P,K | ||
+ | [radians] is rotation around the same 3 axes | ||
+ | robPose=0 0 0 0 0 0 (r) pose of robot seen from first guidemark also | ||
+ | (x,y,z,O,P,K) | ||
+ | gmkcamPose=0 0 0 0 0 0 (r) pose of guidemark in camera coordinates (x,y,z,O,P,K) | ||
+ | vertical=1 (r/w) expect vertical oriented guidemarks - better | ||
+ | performance on diagonal guidemarks if 0 | ||
+ | diagonal=0 (r/w) expect diagonal oriented guidemarks - better | ||
+ | performance on vertical guidemarks if 0 | ||
+ | gmk='struct'; new | ||
+ | (H: has time series, L: is logged, R: replay) | ||
+ | </help> | ||
+ | |||
+ | ===Server push=== | ||
+ | |||
+ | The server can be requested to send (or process) data in responce to an event. | ||
+ | |||
+ | An event can be e.g. a new camera image, an updated image in the image pool, some time passed, update of some structure in the variable tree or an interface is connected. | ||
+ | |||
+ | In general the command for server push events includes the keyword "push", like | ||
+ | |||
+ | <push t=1.5 cmd="odopose pose"/> | ||
+ | |||
+ | This is a time push, and the command (the value of the "cmd" attribute) is send to the server command queue every 1.5 seconds. | ||
+ | |||
+ | Other events has typically an interval parameter, like: | ||
+ | |||
+ | <poolpush img=19 i=3 cmd="poolget all"/> | ||
+ | |||
+ | Then every third time image number 19 in the image pool is updated the image is send to the client. | ||
+ | |||
+ | |||
+ | ===Online help=== | ||
+ | |||
+ | In mobotware there is on-line help for all commands, i.e.: | ||
+ | Client request for help: | ||
+ | <help/>\n | ||
+ | |||
+ | Server reply: | ||
+ | <help subject="server help"> | ||
+ | ----- Main help: | ||
+ | This is Camera_server-2.182 (Jan 15 2011 16:51:23 jca@oersted.dtu.dk) a server in the AU Robot Server series | ||
+ | running on host pluto port 24920 | ||
+ | with 12 modules and 29 ressources. | ||
+ | --- | ||
+ | Available commands (from currently loaded modules): | ||
+ | - push q server help shelp module do BASH alive quit exit | ||
+ | - camGet camSet camPush camsGet | ||
+ | - var varPush | ||
+ | - poolGet poolList poolSet poolPush | ||
+ | - odoPose odoPosePush | ||
+ | - utmPose utmPosePush | ||
+ | - mapPose mapPosePush | ||
+ | - laser laserOnConnect | ||
+ | - laserdata laserobst | ||
+ | - cron | ||
+ | - obj3d | ||
+ | - nav navOnConnect | ||
+ | All commands has a help option, e.g.: | ||
+ | server help Help on server core functions | ||
+ | module help Module list and addition/removal of modules | ||
+ | q Close connection to this client by server | ||
+ | (ping [tod=sss.usec] Time difference analysis (TCP only)) | ||
+ | --- | ||
+ | A command should be packed in XML brackets and must be terminated by a \n (newline) | ||
+ | e.g.: | ||
+ | <module list/> or if you are lazy just: | ||
+ | module list | ||
+ | --- | ||
+ | </help> | ||
+ | <help info="done"/> | ||
+ | |||
+ | The bullet list is the available commands, e.g. the var command is in the same module as varpush. | ||
+ | |||
+ | Then help on the var command from client: | ||
+ | <var help/> | ||
+ | |||
+ | Server reply: | ||
+ | <help subject="VAR"> | ||
+ | -------------------- Available VAR options: | ||
+ | 'variable [variable]*' Get value of variable(s) | ||
+ | variable="value" Assign a value to a variable | ||
+ | list Get list of variables in root of variable structure | ||
+ | struct Get list of all variables in a structure | ||
+ | [struct.]allCopy Get list of all variables for var pool copy | ||
+ | desc Get variable description too | ||
+ | type=T semi-structure where T='pose' | '3d' | 'dq' | 's' | 't' | ||
+ | call='me(par1,par2,..)' Test a method call with name 'me' and some parameters | ||
+ | returnType=[lineseg|3d|pose|...] Expected struct result type of call | ||
+ | log[=false] Open (or close) logfile (open false) /home/chr/chr/results/ucamserver.var.log | ||
+ | log[=false] struct Start or stop logging of this struct | ||
+ | isLogging struct Is this structure beeing logged? | ||
+ | help This help message | ||
+ | See also VARPUSH (update event handling) | ||
+ | </help> | ||
+ | <var info="done"/> | ||
− | + | == Installation notes== | |
− | + | === Raspberry pi camera === | |
− | + | [[Raspberry pi camera servers]] | |
− | + | ===Installation without FIREWIRE=== | |
− | + | If you do hat have (and should not use) firewire, then the AURS can be compiled by changing two of the Makefiles: | |
− | + | library ucam4 (in subdirectory ucam4): | |
− | + | In the Makefile change the DEFINES line from | |
+ | DEFINES = -D USE_IEEE1394 or -D USE_GUPPY | ||
+ | to | ||
+ | DEFINES = -D USE_NO_IEEE1394 -D USE_NO_GUPPY | ||
− | + | And the cameraserver (in directory ucamserver) | |
− | + | In the Makefile change the DEFINE line from | |
+ | DEFINES = -D USE_IEEE1394 or -D USE_GUPPY | ||
+ | to | ||
+ | DEFINES = -D USE_NO_IEEE1394 -D USE_NO_GUPPY | ||
− | + | and the LDDFLAGS line from | |
+ | LDFLAGS = -g0 -lcxcore -lcv \ | ||
+ | -L../lib -lurob4o -lugen4o -lumap4o -lucam4o \ | ||
+ | -lpng -ldl -rdynamic -lcurses -lreadline -lraw1394 -ldc1394_control | ||
+ | or | ||
+ | LDFLAGS = -g0 -lcxcore -lcv \ | ||
+ | -L../lib -lurob4o -lugen4o -lumap4o -lucam4o \ | ||
+ | -lpng -ldl -rdynamic -lcurses -lreadline -lraw1394 -ldc1394 | ||
+ | to | ||
+ | LDFLAGS = -g0 -lcxcore -lcv \ | ||
+ | -L../lib -lurob4o -lugen4o -lumap4o -lucam4o \ | ||
+ | -lpng -ldl -rdynamic -lcurses -lreadline |
Latest revision as of 14:31, 11 February 2020
Contents |
[edit] Base Documentation
[edit] Programming API documentation
AU Robot servers (AURC)
AURS class documentation http://aut.elektro.dtu.dk/mobotware/doc/html/classes.html
Open CV
Point Cloud Library
http://pointclouds.org/documentation/
[edit] Servers
[edit] Camera server
The camera server - see ucamserver for use details - is pre-configured for camera related functionality.
[edit] Laser scanner server
The laser scanner server - see ulmsserver for details - is optimized for functions using laser scanner data.
[edit] Client for monitoring (auclient)
A data monitoring client auclient is a server pre-configured to display graphics on an x-console. It should be executed on a computer with a screen, i.e. not on the robots.
[edit] General server
An general server userver is intended for functionality not related to camera and laser scanners
[edit] Server stub
A server stub auservertest is a port server that just shows messages from connected clients - with a timestamp. This can e.g. be used to replace the MRC to verify the messages intended for the MRC.
[edit] Modules (plug-ins)
[edit] Descriptions
Not all plug-in modules has a description on these pages (yet).
- auball - eksamel ball-finder plugin
- Raspberry Pi camera plugin (aupicam) - works only on Raspberry
- Crop row follower (robotti) camera plugin - aucroprow2.so.0 - by Aske Bay Jakobsen Crop row finder
- Time of flight camera - autof.so.0 by Kristian Villien Time of flight camera
- People detection and tracking - aupplfinder.so.0 by Mikkel Viager People tracker
- Obstacle avoidance - auavoidk.so.0 Kaspers intuitive method Obstacle Avoidance K
- Obstacle avoidance (visibility graph) auavoid.so.0 - Obstacle avoidance - visibility graph
- Rule engine (aurule.so.0) Rule based scripts
- drivebase.rule - The basis for (HAKO) missions - Drivebase.rule
- Stereo camera - Videre design device (ausvs.so.0) - Videre Design stereo camera plug-in
- Kinect camera (aukinect.so.0) - Kinect plug-in
- Mapped obstacles (aumapobst.so.0) - converts near map lines to obstacle polygons Mapped obstacles
- Laser obstacles (aulobst.so.0) - make obstacles from laserscan - uses ransac lines Laser obstacles
- Locater - tree row locater (locater.so.0) - locater - tree row based on laserscan lines and fluffy lines (tree-rows) and line definitions in mapbase.so.0
- smr - MRC interface (ausmr.so.0) - MRC interface holds some routines to control and interface with the MRC, and a smrctl resource to translate manoeuvres to SMRCL.
- Vaiable pool (auvar.so.0) is linked staticalli in all servers - use "module load=var". for variables and methods see Variables
- Pose and pose history is maintained by odoPose, mapPose and utmPose - see Coordinate systems
- Map (Mapbase) using lines and points - with optional attributes (mapbase.so.0) - a plug-in for mapped lines and connected graph of routes
- PCL test plugin (aupcltest) requires that pcl version >=1.4 is installed.
- auv4lgst gstreamer plugin - experimental - gstreamer-plugin
- auview - a 3D viewer for the auclient, shown pointclouds and most of the features that the audisp can show in 2D.
- audisp - 2D (top view) display of robot, sensor data (e.g. laserscans) an path history.
@todo document these:
- Stereo (aimed for 2 aligned cameras supported by ucamserver) (austereo.so.0) - uses openCV stereo library.
- Slow task scheduler (aucron.so.0) - a module to execute bash commands at regular intervals - e.g. to move logged images at low priority
- Drive control to a specific pose (audrivepos.so.0) - uses auavoid plug-in to find path to pose.
- Roaddrive - a drive controller thet follows a road edge (auroaddrive.so.0) - uses auavoid, ausmr and ulmspassable for path planning.
- Line finder plug-in to find and maintain wall lines (auefline.so.0). Is based on the libauextractfeatures library.
- Gps plug-in (augps.so.0) - maintains an UTM pose from a serial/USB GPS (NMEA) connection.
- aulmsnear.so.0 - a small function to return the closest point in a laserscan as a <laser l0=0.0 .../> type message
- ulmspassable.so.0 - extracts road lines from a laserscan (tilted laser) and holds a database of detected obstacles.
- Virtual 360 deg laser scanner device (ulmsv360.so.0). This is also available as static plug-in for the ulmsserver (module load=v360).
- auseq - deprecated sequencer plug-in
[edit] Coordinate systems
The three Coordinate systems are available as static: odometry (odoPose), UTM (utmPose) and Map (mapPose)
[edit] How to make a plugin
[edit] Variables and functions
Variables (global variables and functions across plugins)
[edit] Replay functionality
A data interface can often be logged, and a replay of the interface may then be beneficial for analysis and debugging.
AURS has a replay facility, see Replay
[edit] Interface description
MOBOTWARE is a set of socket servers, each server has 1 port and allows up to 10 simultaneous clients (port numbers used are from 24919 to 24930).
XML consist of tags and text, a tag is in brackets “<” and “>” and may be split into an open tag and a close tag, with some text imbetween e.g. <tagname> some tekst </tagname>. The open tag may have attributes and may have an implicit close tag (named a full tag), e.g.: <tagname info=”low on power” device=”gps”/>. Attributes must have a value, the value must be in quotes (or apostrophes).
[edit] Connect
When a client connects to a server the server sends an XML opening sequence of XML tags – something like:
<?xml version="1.0" encoding="UTF-8"?>\n <camServer name="ucamcomp" version="2.182">\n
where “\n” is a “newline character ( ) - all commands and replies are terminated with a newline (handy when decoding commands and when debugging).
The client will reply with a similar sequence, something like:
<?xml version="1.0" encoding="UTF-8"?> <marg name="paroll client" version="1267">
This is mandatory to comply with the XML standard (open a “document”).
At the end of the communication there should be a matching close tag:
</marg>\n from MARG
or
</camServer>\n from the camera server
This “end of document” tag has never been mandatory in either MARG nor in our MOBOTWARE servers.
[edit] Value exchange
The client has to initiate any data transfer.
To get a value of some variable, a data request is send to the server:
<var mappose.pose=””/>\n
The server will reply in this format:
<var name="odoPose.pose" typ="pose" size="4" value="1.531 -21.912 -2.026 1286376207.8752" x="1.531" y="-21.912" th="-2.026"/>\n
or
<var warning="not found - try: var help" name="odoPose.poser"/>
or (if the command keyword is misspelled or unknown)
<vur warning="Unsupported function keyword"/>
The return tag name (here var) is the same as in the command.
The important attribute names are: warning=”” is a general warning to be used if a command can not be executed (other general types are info=”” (debug info) and error=”” (fatal errors).
name=”” is the name of the variable, a “.” indicates that the name prior to the “.” is a structure name, i.e. odoPose is a structure, and pose is a variable name in that structure. Variable names are not case sensitive.
typ=”pose” is the type of a variable, relevant types are “d” (a single or array of double), “pose” a 2D pose (x,y,th), “m2” a matrix of doubles (any size), “s” for a string of any size, but ASCII characters – only tested with 7-bit ASCII with escape sequences as allowed by XML.
size=”4” is the size of the value field, either in characters if a string or number of doubles in all other cases.
Value="1.531 -21.912 -2.026 1286376207.8752" is the value of the variable coded as characters using default C locale, i.e. using “.” as decimal notation (e-notation should be valid too e.g 1.2863762078752e9).
[edit] Full structure
An example of request of a full structure could be (camera device info):
<var campool.device0.allcopy=””/>
The server reply is something like:
<var name="campool.device0.name" typ="s" size="26" value="Logitech Pro 3000"/> <var name="campool.device0.log" typ="d" size="1" value="0"/> <var name="campool.device0.replay" typ="d" size="1" value="0"/> <var name="campool.device0.intrinsic" typ="m2" size="9" value="709 0 320; 0 709 240; 0 0 1"/> <var name="campool.device0.distortion" typ="m2" size="5" value="-0.207 0.2813 0.0013 0.0036 -0.3"/> <var info="done"/>
The matrix value uses a “;” to indicate a new row, i.e. the intrinsic matrix above is a 3x3 matrix.
[edit] Set value
A value is changed (if allowed) like this:
<var campool.device0.log="1"/>
Server reply is something like:
<var name="camPool.device0.log" typ="d" size="1" value="1" oldValue="0"/>
The oldValue attribute is just for debug info.
[edit] Get value to another server
When a server is connected to another server, the variables accessible with the VAR command can be transferred from the other server, e.g. the values in the guidemark structure on the camera server to be available in the laser scanner server.
The laser scanner server needs a connection to the camera server, e.g.:
>> module load=if alias=cam >> cam connect=localhost:24920
Then to get updated values every time the GMK structure is updated, add this command to the laser scanner server:
>> cam varpush struct=gmk cmd="var gmk copy"
This will put the structure and all the variables in the structure in a special structure on the laser scanner server called VAR, i.e. the var directory will now hold a GMK structure (when this is updated in the camera server):
>> var var.gmk <help subject="var list" name="gmk"> Description: new imageSerial=11 1021 added count=0 added IDs=0 added gmkPose=0 0 0 0 0 0 added robPose=0 0 0 0 0 0 added gmkcamPose=0 0 0 0 0 0 added vertical=1 added diagonal=0 added (H: has time series, L: is logged, R: replay) </help>
To get the structure anywhere else (e.g. in the root, as on the camera server) use the destination option:
>> cam varpush struct=gmk cmd="var gmk copy dest=."
The period in the destination (dest=.) marks that it should be placed in the root of the variable system - rather than the special VAR structure.
Note that the description of the variables is not included. To get the description the DESC option will do it:
>> cam var gmk copy dest=. desc <help subject="var list" name="gmk"> Description: new imageSerial=11 1021 (r) camera number and serial number of image used in search count=0 (r) Number of guidemarks found IDs=0 (r) ID codenumber (in decimal) of the found guidemarks gmkPose=0 0 0 0 0 0 (r) pose of first guidemark in robot coordinates (x,y,z,O,P,K) x=forward, y=left z=up [meter], O,P,K [radians] is rotation around the same 3 axes robPose=0 0 0 0 0 0 (r) pose of robot seen from first guidemark also (x,y,z,O,P,K) gmkcamPose=0 0 0 0 0 0 (r) pose of guidemark in camera coordinates (x,y,z,O,P,K) vertical=1 (r/w) expect vertical oriented guidemarks - better performance on diagonal guidemarks if 0 diagonal=0 (r/w) expect diagonal oriented guidemarks - better performance on vertical guidemarks if 0 gmk='struct'; new (H: has time series, L: is logged, R: replay) </help>
[edit] Server push
The server can be requested to send (or process) data in responce to an event.
An event can be e.g. a new camera image, an updated image in the image pool, some time passed, update of some structure in the variable tree or an interface is connected.
In general the command for server push events includes the keyword "push", like
<push t=1.5 cmd="odopose pose"/>
This is a time push, and the command (the value of the "cmd" attribute) is send to the server command queue every 1.5 seconds.
Other events has typically an interval parameter, like:
<poolpush img=19 i=3 cmd="poolget all"/>
Then every third time image number 19 in the image pool is updated the image is send to the client.
[edit] Online help
In mobotware there is on-line help for all commands, i.e.: Client request for help:
<help/>\n
Server reply:
<help subject="server help"> ----- Main help: This is Camera_server-2.182 (Jan 15 2011 16:51:23 jca@oersted.dtu.dk) a server in the AU Robot Server series running on host pluto port 24920 with 12 modules and 29 ressources. --- Available commands (from currently loaded modules): - push q server help shelp module do BASH alive quit exit - camGet camSet camPush camsGet - var varPush - poolGet poolList poolSet poolPush - odoPose odoPosePush - utmPose utmPosePush - mapPose mapPosePush - laser laserOnConnect - laserdata laserobst - cron - obj3d - nav navOnConnect All commands has a help option, e.g.: server help Help on server core functions module help Module list and addition/removal of modules q Close connection to this client by server (ping [tod=sss.usec] Time difference analysis (TCP only)) --- A command should be packed in XML brackets and must be terminated by a \n (newline) e.g.: <module list/> or if you are lazy just: module list --- </help> <help info="done"/>
The bullet list is the available commands, e.g. the var command is in the same module as varpush.
Then help on the var command from client:
<var help/>
Server reply:
<help subject="VAR"> -------------------- Available VAR options: 'variable [variable]*' Get value of variable(s) variable="value" Assign a value to a variable list Get list of variables in root of variable structure struct Get list of all variables in a structure [struct.]allCopy Get list of all variables for var pool copy desc Get variable description too type=T semi-structure where T='pose' | '3d' | 'dq' | 's' | 't' call='me(par1,par2,..)' Test a method call with name 'me' and some parameters returnType=[lineseg|3d|pose|...] Expected struct result type of call log[=false] Open (or close) logfile (open false) /home/chr/chr/results/ucamserver.var.log log[=false] struct Start or stop logging of this struct isLogging struct Is this structure beeing logged? help This help message See also VARPUSH (update event handling) </help> <var info="done"/>
[edit] Installation notes
[edit] Raspberry pi camera
[edit] Installation without FIREWIRE
If you do hat have (and should not use) firewire, then the AURS can be compiled by changing two of the Makefiles:
library ucam4 (in subdirectory ucam4):
In the Makefile change the DEFINES line from
DEFINES = -D USE_IEEE1394 or -D USE_GUPPY
to
DEFINES = -D USE_NO_IEEE1394 -D USE_NO_GUPPY
And the cameraserver (in directory ucamserver)
In the Makefile change the DEFINE line from
DEFINES = -D USE_IEEE1394 or -D USE_GUPPY
to
DEFINES = -D USE_NO_IEEE1394 -D USE_NO_GUPPY
and the LDDFLAGS line from
LDFLAGS = -g0 -lcxcore -lcv \ -L../lib -lurob4o -lugen4o -lumap4o -lucam4o \ -lpng -ldl -rdynamic -lcurses -lreadline -lraw1394 -ldc1394_control
or
LDFLAGS = -g0 -lcxcore -lcv \ -L../lib -lurob4o -lugen4o -lumap4o -lucam4o \ -lpng -ldl -rdynamic -lcurses -lreadline -lraw1394 -ldc1394
to
LDFLAGS = -g0 -lcxcore -lcv \ -L../lib -lurob4o -lugen4o -lumap4o -lucam4o \ -lpng -ldl -rdynamic -lcurses -lreadline