pygecko 0.5.0

A python robotic framework and tools

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 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

• [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

• servers: main nodes

  • Speech server

  • Navigation server

  • Vision processing server

  • VideoOdometry server

• tools: command line programs

  • Topic reader/creator

  • bag play/record

  • image viewer

  • mjpeg streamer

  • keyboard

• lib: mostly classes

  • bag

  • camera calibrator

  • chatbot

  • file storage

  • messages

  • microphone

  • 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
webserver.py	N	serve up a web page containing debugging and status info for the robot
bag_play/record	Y	saves messages to a file so they can be replayed off-line later
twist_keyboard	Y	simple keyboard interface to send twist messages to a 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.

ToDo

• fix speech … not sure best way to do this

• better modularity for various robots … not sure how to do this

  • multiple robots use same/similar software … not sure how to best divide things up

• mjpeg_server

  • only handles one connection at a time … make threaded?

  • sometimes the video stream is slow to load, but then it works fine

  • handle client disconnect (broken pipe - 32) better

• opencvutils - replacing lib/Camera.py and move calibration stuff to it

  • these are good capabilities that can be used beyond just this library, make a stand alone library/tool

• simplehtml - use for dynamic webpages

• quaternions - use/update

• implement a simple dynamic html server that takes json data in and produces webpages of diagnostic/status info

History

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

Change Log

2016-12-26	0.5.0	refactor
2016-10-09	0.4.1	published to PyPi
2010-03-10	0.0.1	init