26 February 2004
- To compile Tekkotsu set the path to the java SDK bin directory in your PATH environment variable.
- When creating the memorystick using the 'make install' command in the Tekkotsu projects directory some files on the memory stick might be 'read-only' as is printed. Remove the 'read-only' properties of these files and again type 'make install'.
- The Tekkotsu manual states you have to start './ControllerGUI? <IP-addres of Aibo>' to start the GUI but the executable should be called 'ControllerGUI?.sh' instead.
- In oder to connect the 'nb-avmovie' laptop to the robolab.science.uva.nl wireless network the IEEE 802.1x authentication should be disables. When experiencing connection problems retype the 'Network key' in the 'netwerk properties' configuration menu.
24 February 2004
- You can stop the Aibo scrolling through its root-menu (port 10001) by moving its head.
- The joints are not switched off in the MS-file \open-R\mw\conf\design.cfg, because Speed Racer has the same design.cfg.
- No contact with Aperios via port 59000, is it moved to 59001 in \open-R\mw\conf\robotgw.cfg? No, it is the Gateway Proxy (see page 14 installation-guide)!
- ftp 192.168.0.112 works, see \open-R\mw\conf\passwd for username (no anonymous). Only via shell, not via browser.
- Found the switching-off. In Tekkotsu_2.0.1\Shared\Ers7info.h the Max Output Speed is set to zero for all joints (see http://www-2.cs.cmu.edu/~tekkotsu/dox/namespaceERS7Info.html#a64 ).
- The oscilation were due to a hardware difference between the ERS-2xx and the ERS-7. The ERS-7 has only one shift-register for all PID-controls. See https://openr.aibo.com/cgi-bin/openr/e_regi/im_trbbs.cgi?uid=general&df=bbs.dat&prm=TAN&pg=3&no=0894#0894 for details.
23 February 2004
- DHCP via wireless network and arena now also working for nb-avmovie. DHCP option set for wireless network at nb-avmovie.
- Changed ip-address to 192.168.0.112 (Lewy) in Matlab config file Tekkotsu_2.0.1/tools/mon/config.m
- Needed Matlab version 6.5 for Tekkotsu. Installed Matlab 6.5 at nb-avmovie.
- According to the Tekkotsu mailing list (December 2003) the joint-control of the ERS-7 is switched-off due to oscillation (see http://groups.yahoo.com/group/tekkotsu_dev/message/129).
20 February 2004
- daisy@land.lab.decis.nl 192.168.1.47
- The Controller grafic user interface van Tekkotsu werkt blijkbaar niet samen met een Aibo met Speedracer memorystick.
- Op de memorystick van Tekkotsu staan de configurations van Tekkotsu. Het Vision gedeelte heeft andere settings voor de ERS-2* en de ERS-7, doch de Motion niet (o.a. max_head_roll_speed=3.0 i.p.v. tilt2).
18 February 2004
- Edwin found package with Java source-code that works as web-cam: http://www.tekkotsu.org/
- Bas has gained experience as Robotcontrol user. The Gt software now also works from the fileserver carol (as long as there is a local C:\cygwin path).
16 February 2004
- Aibo's now accessible by their names on the intranet.
- At this moment nb-avmovie uses a fixed ip address for the wireless network : 192.168.0.114. Dhcp via arena for this notebook is still not working, will work on it.
- Speedracer (http://www.aibohack.com/openr_sdk/speedracer.htm) application downloaded on lewy and works via the robolab intranet.
5 February 2004
- Build Simgt2003 in C:\cygwin\home\aabbo. Had to change the directories under Tools->Option->Execute files from C:\programs\cygwin\bin to C:\cygwin\bin (error message was wrong version of cygbin1.dll).
- Physicalrobot.scn crashes on Routerctr.cpp. Gt2003.scn works.
- Downloaded Matlab interface from Pennsylvania. This software works with the Tcp-gateway:
These Matlab functions are used to implement an interface between the
Upenn Sony Aibo robots and an external Matlab process. First you
should compile tcpopen for your Matlab platform with:
mex -O tcpopen.c
The resulting Mex function allows you to open a connection to a TCP
server, and returns a Matlab file identifier that can be used with
fread, fwrite.
All the routines communicate with the open-r objects via Tcp-gateway on
the dog with the Recv_array.m and Send_array.m functions. The Upenn code
uses a common array structure in all the objects, and these functions
allow Matlab to translate the open-r arrays.
You should modify the initialization routine Initrobots.m with
the hostnames of your robots.
3 February 2004
Wireless accesspoint installed and running 128 bit WEP encryption. The Aibo's can now be accessed via the Uva Robosoccer intranet.
- Mina 192.168.0.109
- Bobby 192.168.0.110
- Moos 192.168.0.111
- Lewy 192.168.0.112
- aibonet 192.168.0.113
2 February 2004
30 January 2004
- Succesfull mini-symposium, with an audience from Decis, TU Delft en University Utrecht.
- Peter van Lith borrows one ERS-7 (moos).
5 January 2004
Start Autonomous Systems project
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