Difference between revisions of "Roomba project"

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(Download and install Pyro)
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=== Download and install Pyro ===
 
=== Download and install Pyro ===
  
First of all, you need to download the latest version of Pyro. You can choose between different versions and operative systems from this website: [http://pyrorobotics.org/download/ PyroDownload]. Since the project will be developed under Linux, we will refer to Linux Ubuntu OS, using the Pyro version 5.0.0.
+
First of all, you need to download the latest version of Pyro. You can choose between different versions and operative systems from this website: [http://pyrorobotics.org/download/ PyroDownload. Since the project will be developed under Linux, we will refer to Linux Ubuntu OS, using the Pyro version 5.0.0.
Then, you need to install it, in the usual way from terminal, with the commands:
+
Then, you need to install it, in the usual way from terminal (check that you are in the pyrobot folder), with the commands:
 
  ./configure.py
 
  ./configure.py
 
  make
 
  make
 
  makefile
 
  makefile
 +
 +
If you have python version 2.6 or higher, you need to modify the file:
 +
/usr/lib/python2.6/dist-packages/pyrobot/bin/pyrobot
  
To run the program, copy the pyrobot executable file (pyrobot.py) in your home folder, and from terminal write:
+
changing the words "site-packages" with "dist-packages" whereever it appears. This modification must not be done if you have earlier python versions.
  ./pyrobot.py
+
 
 +
Now you can run the program writing from terminal:
 +
cd /usr/lib/python2.6/dist-packages/pyrobot/bin/
 +
./pyrobot
 +
You can also copy the file executable file in your home folder, and write from terminal:
 +
  ./pyrobot

Revision as of 17:34, 29 July 2010

Roomba Analysis and Modification
Image of the project Roomba project
Short Description: Roomba's control system study and modification
Coordinator: GiuseppinaGini (gini@elet.polimi.it)
Tutor: ThomasFerrari (tferrari@elet.polimi.it)
Collaborator:
Students: AndreaScalise (andrea.scalise@aol.it), NiccoloTenti (nicotenti@libero.it)
Research Area: Robotics
Research Topic: Robot development
Start: 2010/05/10
End: 2010/09/25
Status: Active
Level: Ms
Type: Course

This project is about studying the vacuum cleaner Roomba's brain, in order to modify and add new behaviours to it: in particular a wall-following algorithm will be implemented and tested. The interfacing with the robot will be provided by Pyro, a library, environment, graphical user interface to explore AI and robotics using the Python language.

Interfacing with Pyro

Pyro is a powerful software written in Python, used to provide a high level interface to many types of robots, regardless of their hardware structure. Here the main steps to configure properly the Pyro environment and to interface it with a Roomba.

Download and install Pyro

First of all, you need to download the latest version of Pyro. You can choose between different versions and operative systems from this website: [http://pyrorobotics.org/download/ PyroDownload. Since the project will be developed under Linux, we will refer to Linux Ubuntu OS, using the Pyro version 5.0.0. Then, you need to install it, in the usual way from terminal (check that you are in the pyrobot folder), with the commands:

./configure.py
make
makefile

If you have python version 2.6 or higher, you need to modify the file:

/usr/lib/python2.6/dist-packages/pyrobot/bin/pyrobot

changing the words "site-packages" with "dist-packages" whereever it appears. This modification must not be done if you have earlier python versions.

Now you can run the program writing from terminal:

cd /usr/lib/python2.6/dist-packages/pyrobot/bin/
./pyrobot

You can also copy the file executable file in your home folder, and write from terminal:

./pyrobot