A flying robot (or camera) moves in 3D and has a camera to perceive its environment. In the scenario there are several visual markers (Aruco or Apriltags) whose 3D position and orientation is known. Using its camera the robot has to estimate its own 3D pose. A world similar to that on this image

Once the initial repository structure has been created (#1), now the focus will be the compilation chain. At least for the initial introrob components and that of the drone-cat-and-mouse exercise.

There is a big change in the dependences. These academic components will depend on JdeRobot things (libraries, headers...) as on any other external dependence (like that on opencv library, PCL...), not as an internal dependence, on something in the same repository. Their CMake stuff inside JdeRobot repository included internal dependences. But that is no longer the case, as now JdeRobot and TeachingRobotics are now two separate repositories.

Later we will focus on the CPack side of this repository, not now.

Fourth (voluntary) practical exercise at the "basic programming drones" course. It was developed by @DanielYS and it would be great to have it integrated in this git repo.

The demo video can be found at http://jderobot.org/Programacion-de-drones#Pr.C3.A1ctica_Tu_cuadric.C3.B3ptero_sigue_una_carretera_desde_el_aire

First practical exercise at the "basic programming drones" course. It was developed by @almartinflorido and it would be great to have it integrated in this git repo
The demo video is http://jderobot.org/Programacion-de-drones#Pr.C3.A1ctica_filtros_de_color

Hi,

actually we have the mouse component in C++, is necessary create a new component from introrob_py for the mouse.

regards

Is necessary add to cat component a velocity constraint for drone contest.

The introrob.py component was moved here from JdeRobot github. The configuration file to launch this component [http://jderobot.org/Teaching_robotics_with_JdeRobot#Simulated_ArDrone_.2B_introrob_py] needs some refinement and there is no web description of this exercise yet, it should be documented.

It seems a bad configuration file contents (introrob_py_simulated.cfg), but it should work as this is component the starting point for many users that starts programming the drone.

The integration of academic components for this exercise. We will use it in the "programming drone challenge" (http://jderobot.org/Campeonato-de-drones). The referee component should be included in this directory and one or two mice for testing the cat with them.
The initial release of the referee was programmed by @andresjhe. The initial releases of the cat and the mouse were developed by @DanielYS
Demo videos can be found at http://jderobot.org/Campeonato-de-drones#Prueba:_el_juego_del_gato_y_el_rat.C3.B3n_con_drones

A new academic component is needed, just for the global navigation exercise. A car in a small city is endowed with a GPS sensor and a map of the city. The human user will specify a new (remote) destination and the car will do path planning from its current location to the final destination taking into account only the map.

The robot (a car) will have motors and pose3D interfaces. No other sensors this time. In addition to do the path planning it also perform the position based navigation, the path execution.

The imuplugin.cfg file is need in the gazebo folder inside the teleTaxi exercise. Without it, it is not possible to launch the world from the folder gazebo of this exercise, as the program can't finde this file.

With the Kobuki robot in an office world (with rooms, corridors....). Forked form introrob (C++)

Second practical exercise at the "advanced programming drones" course. It was developed by @edupergar and it would be great to have it integrated in this git repo.

The demo video can be found at http://jderobot.org/Programacion-avanzada-de-drones#Pr.C3.A1ctica_2:_Escapando_de_un_laberinto_con_flechas_de_ayuda

Third practical exercise at the "advanced programming drones" course. It was developed by @eperdices and it would be great to have it integrated in this git repo.

The demo video can be found at http://jderobot.org/Programacion-avanzada-de-drones#Pr.C3.A1ctica_3:_B.C3.BAsqueda_de_personas_tras_una_cat.C3.A1strofe

The introrob component was moved here from JdeRobot github. The configuration file to launch this component and the web description of this exercise [http://jderobot.org/Teaching_robotics_with_JdeRobot#Simulated_Pioneer_.2B_Introrob] need some refinement

Hi all,

the actual reconstruccion3D.world has a low lighting:

Is necessary improve the lighting to obtain better results.

Encoders interface is deprecated for robot position as long as it only works for ground robots (wheeled like Kobuki and Pioneer, legged like Nao). Pose3D is the new standard interface for robot position and orientation. It works for ground robots and for aerial robots like drones.

Development of new academic component for this exercise. In Python and using OpenCV. The demo video can be found at http://jderobot.org/Teaching_robotics_with_JdeRobot#Visual_follow-line_behavior

in the ardrone_cat_mouse exercise

The GUI of the exercise obstacle avoidance is too big and it does not enter in the screen.

Currently each exercise has a configuration file called introrob_py.cfg. Change these names according to each exercise name (for instance colorfilter.cfg in colorfilter exercise).

The same happens with main python files. Instead of calling them main.py, change them to colorfilter.py, position_control.py, etc.

Following the structure of other components, the idea is to include the gazebi world needed by the component and its configuration files into a subfolder called gazebo.

The infrastructure needed is composed of a car model, a small city in Gazebo, and a png map of such city.

The car model (taxi) will be included in JdeRobot repository, so it can be used in general. The Gazebo world file will include the town in 3D. The town map in png will be provided to the application software to use it for path planning.

Hi,

is neccesary create five mouses for the drone contests:

• training
• classification
• q1
• q2
• q3

regards

The montmelo-pioneer.world publish the pioneer cameras at cam_sensor_left and cam_sensor_right but the configuration file of follow_line try to connect to cam_pioneer_left and cam_pioneer_rigth.

Development of the academic components for this exercise. The demo video can be found at
http://jderobot.org/Teaching_robotics_with_JdeRobot#Visual_3D_reconstruction_from_a_stereo_pair_of_RGB_cameras

In Python and using OpenCV.

The introrob-qt component was moved here from JdeRobot github. The configuration file to launch this component and the web description of this exercise [http://jderobot.org/Teaching_robotics_with_JdeRobot#Simulated_Turtlebot_.2B_Introrob_qt] need some refinement

I created the repo some time ago for Teaching Robotics, and added three days ago the right writting permissions and team on github. Now it is ready for action.
Now several components from JdeRobot must be moved to this repository: introrob, introrob_py, introrob_qt at least. FollowBall component too, though it is obsolete and needs update.

With the actual size of CameraWidget window the change camera button is not visible

VFF algorithm for local navigation. Target positions from file and from a local GUI, with 1m2 squares

follow_line: worlds are broken

affected:

• circuit.world
• simpleCircuit.world

Gazebo hangs and requires force close. Console log:

Load: -1517115872 cam_f1_left
Load: -290466432 cam_f1_right
LaserDump Constructor
constructor motors
-----------------constructor Pose3D
GetName() Pose3D: f1
[Info] loaded Ice.Config file: /usr/local/share/jderobot/conf/f1Pose3D.cfg
Pose3D Endpoints default -h localhost -p 8998
--Ice.Config=f1Motors.cfg
[Info] loaded Ice.Config file: /usr/local/share/jderobot/conf/f1Motors.cfg
Motors Endpoints > default -h localhost -p 9999
[Wrn] [ModelDatabase.cc:334] Getting models from[http://gazebosim.org/models/]. This may take a few seconds.
 laser: f1::laser
strs[0]: f1
[Info] loaded Ice.Config file: /usr/local/share/jderobot/conf/f1_laser.cfg
Laser Endpoints > default -h localhost -p 8996
[Msg] Waiting for model database update to complete...

Just [Msg] Waiting for model database update to complete... forever.

PS: much better instructions to execute it are required. Even more important when it targets to novel students.

Verbose info

Executing from gazebo directory:

lrwxrwxrwx 1 varribas varribas    19 Mar 27 15:09 cam_pioneer_left.cfg -> cam_sensor_left.cfg
lrwxrwxrwx 1 varribas varribas    20 Mar 27 15:09 cam_pioneer_right.cfg -> cam_sensor_right.cfg
-rw-rw-r-- 1 varribas varribas   225 Mar 26 14:51 cam_sensor_left.cfg
-rw-rw-r-- 1 varribas varribas   225 Mar 26 14:51 cam_sensor_right.cfg
-rw-rw-r-- 1 varribas varribas   406 Mar 26 14:51 circuit.world
-rw-rw-r-- 1 varribas varribas     0 Mar 26 14:51 default
-rw-rw-r-- 1 varribas varribas 67696 Mar 26 14:51 montmelo-pioneer.world
-rw-rw-r-- 1 varribas varribas    67 Mar 26 14:51 pioneer2dxEncoders.cfg
-rw-rw-r-- 1 varribas varribas    65 Mar 26 14:51 pioneer2dxMotors.cfg
-rw-rw-r-- 1 varribas varribas   234 Mar 26 14:51 pioneer2dx_pose3dencoders.cfg
-rw-rw-r-- 1 varribas varribas   412 Mar 26 14:51 simpleCircuit.world

As you can see on the picture there are two wall at both sides of F1 car, left wall is detected correctly with laser but right wall is "transparent" to laser measures. The same happens if I try to crash the car into the walls, left wall works well but the car is able to go through the right wall as if it didn't exist.

Slow down this development please.
A minimal audit of this repo/umbrella reveals several drawbacks, so it is better to paralize it.

Into Gazebo editor you cannot move any model because every ones have same name.

possible fix: give a different name to each F1 model

bug, major, non-critical

Hi all,

In a new installation of teaching-robotics from deb packages I got an error executing 3d_reconstruction component. The problem is that is necessary install two python modules.

python-gnome2
python-docutils

Please add this packages to dependencies.

regards

Create a new gazebo world similar to "simpleCircuit.world" including obstacles (vehicles). This world will be used to test a VFF algorithm.

By the moment rename catch turtle to follow turtlebot

Third practical exercise at the "basic programming drones" course. It was developed by @almartinflorido and it would be great to have it integrated in this git repo
The demo video can be found at http://jderobot.org/Programacion-de-drones#Pr.C3.A1ctica_Atrapa_a_la_tortuga

A python component that connects to a simulated Kobuki in a world with a Formula1 circuit.

The component shows a GUI with the laser readings, a star in the current destination coordinates and three colored vectors. These vectors will be used to show the attractive force, the repulsive force and the combined one.

It should accept a sequence of destination points in the configuration file. Three ICE interfaces are required: laser, pose3D and motors. Introrob.py may be used as starting point.

Create a new component from introrob_py for drone contest

KobukiViewer is the standard tool in JdeRobot to teleoperate the Kobuki robot. Let us use it to move the turtlebot. This tool is included in the JdeRobot package, so no additional component is needed.
The text of the exercise description should be updated. In addition, the JavaScript version of KobukiViewer should be mentioned, it may also be used to teleoperate the turtlebot while the drone is pursuing it.

First practical exercise at the "advanced programming drones" course. It was developed by @almartinflorido and it would be great to have it integrated in this git repo.

The demo video can be found at http://jderobot.org/Programacion-avanzada-de-drones#Pr.C3.A1ctica_1:_Aterrizando_encima_de_un_coche

Hi all,

the methods graficToOptical() and opticalToGrafic() modify the points passed by reference.

regards

In order to have all the cat and mouse related code centralized, we should collect all the "floating around" components like cat_py, refereeViewer, mouses, etc and put them all together in one folder. It can be called cat_mouse_py (as @almartinflorido suggested).
The first step that I'm going to do now is to move the refereeViewer from the JdeRobot official repo to this new folder and delete it from the origin, so we have no duplicated components.
The next step is to reorganize all the cat and mouse code into this folder (gazebo worlds included).

The actual ArDrone.world and uav_viewer configuration file are deprecated in JdeRobot. As temporary solution we need to add those files in this repo.

Second practical exercise at the "basic programming drones" course. It was developed by @almartinflorido and it would be great to have it integrated in this git repo
The demo video can be found at http://jderobot.org/Programacion-de-drones#Pr.C3.A1ctica_control_en_posici.C3.B3n_con_PID

A invalid import of a no standard python packages has been detected in follow_line componente (MyAlgorithm.py)

using the brand new models in Gazebo for a formula1 car and a race circuit