Current bugs or problems
Calibration attempts to call the control module (io) at termination.
This feature sometimes do not work. Either fix this bug or remove
the feature; since other programs (e.g. Trek) also use the calibration
module, the io demo shouldn't be always invoked.
A future version will write the calibration parameters into a file
which the appropiate programs should read if no arguments are provided
when invoked (e.g., io and Trek).
How to execute this module
- Log in to Nomad20
- Make sure robotd is running as root in the background. If not, then run
the daemon as follows:
- Log in as root
- cd to /Nomad200/Nomad_robot/robot-linux???
- run robotd &
- Make sure landmark server is running.
- cd to /home/hhg_19/demo
- Make sure robot is under a landmark.
- Run calibration. Follow directions, and hit return every time the
program reports a new localization.
- At the end the calibration program will call the io demo. You may break
execution at this point if you want. Record the calibration
- First version April, 1995.
- Fixed a bug regarding steering alignment. July, 1995.
- Linux version. January, 1996.
Ideas for improvement
- Generally speaking the calibration program performs well. It is
probably the most reliable (and shortest) io module. Some
modifications, however, might be done to improve the interface with
- Calibration computes the offset of the vertical camera with
respect to the robot's turret center, and the angle between
the x-axis of the vertical camera and the line of sight of the
horizontal one (Xh,Yh,Beta).
- At the end of execution the calibration program sends a limp
command to the
robot's motors. It then asks the user to manually rotate the
turret until the horizontal camera is facing a KNOWN absolute
direction, which should be then provided to the program via keyboard.
Hector H. Gonzalez-Banos, email@example.com
Last modified: Mon Oct 20 18:12:30 1997