sbot 0.9.0

SourceBots API

sbot

sbot - SourceBots Robot API - Powered by j5

This is the API for SourceBots, based on the j5 library for writing Robotics APIs. It will first be deployed at Smallpeice 2019.

Much like it's predecessor, robot-api, sbot supports multiple backends, although should be more reliable as there is no UNIX-AF socket layer.

Installation

Install: pip install sbot

Install with vision support: pip install sbot[vision]

Usage

from sbot import Robot

r = Robot()

Or alternatively:

from sbot import Robot

r = Robot(wait_start=False)

# Setup in here

r.wait_start()

Adding camera calibrations

You will need to print off a chAruco marker grid.

opencv_interactive-calibration -t=charuco -sz=GRID_SIZE

Replace GRID_SIZE with the length of one of the larger squares (in mm) from the printed marker grid.

Use -ci=1 for specifying camera index if multiple cameras are connected.

Point the camera at the marker grid. Until DF is at or below 30 then press S to save. This will output a cameraParameters.xml file. Place this file in sbot/vision/calibrations named after the camera model.

You will need to edit the calibration file used in sbot/vision/backend.py.