CJ's home at Brooklyn College

Carlos Jaramillo's
Distributed Research Experience as Undergraduate (Summer 2009)

WEEKLY JOURNAL
Home
The Lab
About Me
My Mentor
RoboCup 2009
Final Report
The Project
Journal
Week 1
Week 2
Week 3
Week 4
Week 5
Week 6
Progress Report
Week 7
Week 8
Week 9
Week 10
Tips

Week 9:

Task Comments
SRVjoy: a Player GUI console to control the Surveyor Robot This GUI console is cross-platform since it's being written with the Nokia's open-source QT Library.
It can also control any other robot that has player drivers and similare interfaces...For now, it only supports the position2d interface and camera proxies.
The only thing that needs more tweaking is the camera interface because this GUI is assuming the resolutions only available for the SRV1 (ARM-7).
The SRVjoy console allows you to connect to a robot through player's default port number "6665" being served in the "localhost", and the interface lets you drive the robot around (controlling both linear and angular speeds) and take snapshot images. A video feed that natively for the console has not been implemented, yet playercam can be use externally at the same time SRVjoy is running.
The navigation can be done throught the console buttons in the GUI, or by using some assigned keys in the keyboard (The numpad is the preferred choice for now).
Documentation is not necessarity at the moment due to the simplicity of its source code
The SRVjoy console operates as following:
  • All control buttons have icons that show their moving directions. By pressing a direction button, the robot moves in that direction for as long as the button remains pressed.
  • Speed (linear and angular) can be controlloed with the sliders.
  • The camera button will take a snapshot of the current camera view and save it camera####.jpg in the root folder of the executing program.
    NOTE: There is some delay for snapshots (the robot has to focus first, and then shoot) and sometimes pictures appear shifted in order :(
  • Numkeys also resemble the layout of the console buttons, so they can be use to control the robot in a similar manner.
    • Download Tarball Package here
    Finishing Scribbler driver for Player Time didn't allow, unfortunately.