Skip to main content

A python robotic framework and tools

Project description

https://github.com/walchko/pygecko/raw/master/pics/gecko.jpg https://img.shields.io/pypi/v/pygecko.svg https://img.shields.io/pypi/l/pygecko.svg https://travis-ci.org/walchko/pygecko.svg?branch=master https://api.codacy.com/project/badge/Grade/7e526b9907754837a15beff59d393e10 Requirements Status

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

Project details


Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Files for pygecko, version 0.5.2
Filename, size File type Python version Upload date Hashes
Filename, size pygecko-0.5.2-py2-none-any.whl (49.9 kB) File type Wheel Python version py2 Upload date Hashes View

Supported by

AWS AWS Cloud computing Datadog Datadog Monitoring Facebook / Instagram Facebook / Instagram PSF Sponsor Fastly Fastly CDN Google Google Object Storage and Download Analytics Huawei Huawei PSF Sponsor Microsoft Microsoft PSF Sponsor Pingdom Pingdom Monitoring Salesforce Salesforce PSF Sponsor Sentry Sentry Error logging StatusPage StatusPage Status page