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A python robotic framework and tools

Project description

https://github.com/walchko/pygecko/blob/master/pics/noun_11784_cc.png

My robot software.

  • Doesn’t use ROS, ROS is a pain to install and maintain on OSX and various linux systems
    • Uses some of the same ideas, but not RPC-XML
  • Uses Zero MQ instead of roscore
  • Uses my PS4 controller with PySDL2
  • Uses OpenCV to process on-board or stream video off-board to remote
  • All of this runs on Raspberry Pi3

Note: This re-write is still very early and not fully running yet, just parts.

Install

Use brew or apt-get to install:

  • zeromq
  • opencv 3.x
  • cmu pocket sphinx (the most recent version)
  • [optional] SDL 2.0 for PS4 joystick control

pip

pip install pygecko

Development

git clone https://github.com/walchko/pygecko
cd pygecko
pip install -e .

Layout

pyGecko still in development

  • Audio server
  • Navigation server
  • Vision processing server
  • Keyboard node
  • Tools - command line programs
    • Topic reader/creator
    • bag play/record
    • image viewer
    • mjpeg streamer
  • lib - mostly classes
    • bag
    • camera calibrator
    • chatbot
    • file storage
    • messages
    • sox
    • zmq

Tools

This directory contains several tools for the robot:

Executable Stable Description
camera_calibrate.py Y performs camera calibration using either a chessboard or asymmetric circle target. Target patterns are in the patterns folder.
topic.py N send various commands to the robot [work in progress]
image_view Y subscribe to image messages and display them for debugging
mjpeg-server Y create a web server which serves up an mjpeg stream from a camera. Any web browser on any device can see this stream (easier than image_view)
video.py Y capture images or a video clip from a camera
wevserver.py N serve up a web page containing debugging and status info for the robot

Note: Please take stable with a grain of salt … all of this is still in major development.

Note: There is some duplication between these, and it will eventually be sorted out.

History

pyGecko comes from my previous robotics projects that I have been working on for years.

Change Log

2016-10-05 0.3.0 published to PyPi
2010-03-10 0.0.1 init

Project details


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