A python robotic framework and tools
My robot software.
- Doesn’t use ROS, ROS is a pain to install and maintain on macOS 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.
The documentation can be found here.
Use brew or apt-get to install these dependencies:
- opencv 3.x
The recommended way to install this library is:
pip install pygecko
If you wish to develop and submit git-pulls, you can do:
git clone https://github.com/walchko/pygecko cd pygecko pip install -e .
Since I have both python2 and python3 installed, I need to test with both:
python2 -m nose *.py python3 -m nose *.py
Warning: python3 is not fully supported yet, it is giving me problems. Only python2 is currently supported.
pyGecko still in development
example/servers: main message server nodes
- Speech server
- Navigation server
- Vision processing server
- VideoOdometry server
bin: command line programs
- topic reader/creator
- bag play/record
- image viewer
- mjpeg streamer
- keyboard controller
pygecko: mostly classes
- camera calibrator
- file storage
This directory contains several tools for the robot:
|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.
- 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
- 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
- quaternions - use/update
- implement a simple dynamic html server that takes json data in and produces webpages of diagnostic/status info
pyGecko comes from my previous robotics projects that I have been working on for years. Why gecko?? I am from Florida and I remember seeing a lot of geckos running around when I was at college … my cats were scared of them.
|2017-May-14||0.8.3||updates and refactor|
|2017-Apr-02||0.8.2||fix pypi doc and refactor|
|2017-Mar-12||0.6.0||changed messages from dict to classes|
|2016-Oct-09||0.4.1||published to PyPi|
Copyright (c) 2010 Kevin J. Walchko
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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