https://wiki.openrobotino.org/api.php?action=feedcontributions&user=Denz&feedformat=atomRobotinoWiki - User contributions [en]2024-03-29T00:04:41ZUser contributionsMediaWiki 1.32.0https://wiki.openrobotino.org/index.php?title=Simulator&diff=4070Simulator2018-09-21T08:31:41Z<p>Denz: /* Example Setup */</p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:Robotino_sim_icon_64.png]]<br />
|Simulate all aspects of Robotino wihtin a physical 3D simulation environment.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[http://www.festo-didactic.com/de-de/service/robotino/simulation/?fbid=ZGUuZGUuNTQ0LjEzLjM0LjE0NDI Robotino Sim Demo]<br />
|}<br />
<br />
==Robotino SIM Professional==<br />
Robotino SIM Professional is the perfect tool to simulate Robotino in environments created by yourself. All sensors/actors) of Robotino are simulated (including the new laser rangefinder and the manipulator).<br />
<br />
For further information please send an email to info@openrobotino.org<br />
<br />
==Robotino SIM==<br />
Free version of the Robotino simulator. Lets you simulate Robotino's drivesystem, distance sensors, camera and more. See Package links for download details.<br />
<br />
==Example Setup==<br />
One way to build a complete Simulation environment involves setting up Robotino SIM in combination with virtual machines that emulate a Robotino and [http://doc.openrobotino.org/RobotinoFactory/ RobotinoFactory]. <br />
<br />
The virtual machines will run the basic Robotino environment plus [[Smartsoft]].<br />
A preconfigured VMWare Workstation VM can be found here: [http://doc.openrobotino.org/RobotinoFactory/RobotinoVM-3.1.5-smartsoft-2.2.3.zip VM download] (the VM was created with version 12 but should be compatible with most VMWare versions)<br />
<br />
To use the VM simply import it into your Workstation and clone it as many times as you want robots in your simulated scenario. (Note: You will need Professional editions of the Simulation and VMWare Workstation to use multiple systems)<br />
<br />
Each VM will require some changes to its configuration after it has been cloned:<br />
* Make sure each machine has its own unique IP (preferably manually set)<br />
* /etc/robotino/smartsoft_common.conf: enter the IP of the master system as RemoteNS<br />
* /etc/robotino/smartsoft_master.conf: make sure the autostart option is disabled for all but one machine and all systems have the correct master address entered. If you are only using one machine, set it to true<br />
* /etc/robotino/smartsoft_slave.conf: enter the Robotinos own IP here, give it a unique ID(RobotinoName) and enter the address and port of the RobotinoSIM machine. The port needs to be the one set up in the simulation under the "plugin" tab when selecting the simulated Robotino.<br />
All these settings can also be adjusted through the [[Robotino Web Interface]].<br />
<br />
(optional) In case you cloned the VM for multiple simulated robots you may want to adjust the host names of the machines to get better descriptive names when connecting to them via ssh or vnc. <br />
* hostnamectl set-hostname NAME<br />
* edit /etc/hosts change 'ubuntu' NAME<br />
<br />
The Robotino VM should now be able to connect to the simulation and be controllable through Robotino Factory by connecting to the SmartSoft master system.<br />
If autostart is enabled for each slave and the VMs should automatically connect to the system on startup.<br />
The simulation should recognize the incoming connection and show a little prompt "start simulation now" as soon as the Robotino VM is ready.<br />
As soon as the simulation is running, the robotino should connect to it and be usable through the Robotino Factory. If this is not the case, please double check that the port in the simulation matches the one configured in the <br />
slave configuration<br />
<br />
==Example Scenarios==<br />
<br />
====SimpleScene====<br />
A basic example of a simple work environment where the Robotino moves between two machines in a room. The workspace is simply defined as two nodes in front of each of the machines.<br />
<br />
<!--[[Image:SimpleScene.png|right|600px]]--><br />
[[Image:SimpleScene.png|600px]]<br />
<br />
<br />
<br />
====Big Scene====<br />
A more complex setup where a large number of robotinos share a wide workspace with multiple machines. The path network is set up in a way that allows multiple Robotinos to move simultaneously.<br />
<br />
The double roundabout helps the robots to avoid each other while moving towards their goal positions. Generally, it is advisable to arrange the nodes in a near perpendicular angle and avoid overlap of paths as much as possible. Be mindful that one- and two-way paths can make a big difference in how the navigation network is used by the robots.<br />
<br />
[[Image:BigSceneSim.png|600px]]</div>Denzhttps://wiki.openrobotino.org/index.php?title=Simulator&diff=3965Simulator2018-05-28T12:02:48Z<p>Denz: </p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:Robotino_sim_icon_64.png]]<br />
|Simulate all aspects of Robotino wihtin a physical 3D simulation environment.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[http://www.festo-didactic.com/de-de/service/robotino/simulation/?fbid=ZGUuZGUuNTQ0LjEzLjM0LjE0NDI Robotino Sim Demo]<br />
|}<br />
<br />
==Robotino SIM Professional==<br />
Robotino SIM Professional is the perfect tool to simulate Robotino in environments created by yourself. All sensors/actors) of Robotino are simulated (including the new laser rangefinder and the manipulator).<br />
<br />
For further information please send an email to info@openrobotino.org<br />
<br />
==Robotino SIM==<br />
Free version of the Robotino simulator. Lets you simulate Robotino's drivesystem, distance sensors, camera and more. See Package links for download details.<br />
<br />
==Example Setup==<br />
One way to build a complete Simulation environment involves setting up Robotino SIM in combination with virtual machines that emulate a Robotino and [http://doc.openrobotino.org/RobotinoFactory/ RobotinoFactory]. <br />
<br />
The virtual machines will run the basic Robotino environment plus [[Smartsoft]].<br />
A preconfigured VMWare Workstation VM can be found here: [http://doc.openrobotino.org/RobotinoFactory/RobotinoVM-3.1.5-smartsoft-2.2.3.zip VM download] (the VM was created with version 12 but should be compatible with most VMWare versions)<br />
<br />
To use the VM simply import it into your Workstation and clone it as many times as you want robots in your simulated scenario. (Note: You will need Professional editions of the Simulation and VMWare Workstation to use multiple systems)<br />
<br />
Each VM will require some changes to its configuration after it has been cloned:<br />
* Make sure each machine has its own unique IP (preferably manually set)<br />
* /etc/robotino/smartsoft_common.conf: enter the IP of the master system as RemoteNS<br />
* /etc/robotino/smartsoft_master.conf: make sure the autostart option is disabled for all but one machine and all systems have the correct master address entered. If you are only using one machine, set it to true<br />
* /etc/robotino/smartsoft_slave.conf: enter the Robotinos own IP here, give it a unique ID(RobotinoName) and enter the address and port of the RobotinoSIM machine. The port needs to be the one set up in the simulation under the "plugin" tab when selecting the simulated Robotino.<br />
All these settings can also be adjusted through the [[Robotino Web Interface]].<br />
<br />
(optional) In case you cloned the VM for multiple simulated robots you may want to adjust the host names of the machines to get better descriptive names when connecting to them via ssh or vnc. <br />
* hostnamectl set-hostname NAME<br />
* edit /etc/hosts change 'ubuntu' NAME<br />
<br />
The Robotino VM should now be able to connect to the simulation and be controllable through Robotino Factory by connecting to the SmartSoft master system.<br />
If autostart is enabled for each slave and the VMs should automatically connect to the system on startup.<br />
The simulation should recognize the incoming connection and show a little prompt "start simulation now" as soon as the Robotino VM is ready.<br />
As soon as the simulation is running, the robo<br />
<br />
==Example Scenarios==<br />
<br />
====SimpleScene====<br />
A basic example of a simple work environment where the Robotino moves between two machines in a room. The workspace is simply defined as two nodes in front of each of the machines.<br />
<br />
<!--[[Image:SimpleScene.png|right|600px]]--><br />
[[Image:SimpleScene.png|600px]]<br />
<br />
<br />
<br />
====Big Scene====<br />
A more complex setup where a large number of robotinos share a wide workspace with multiple machines. The path network is set up in a way that allows multiple Robotinos to move simultaneously.<br />
<br />
The double roundabout helps the robots to avoid each other while moving towards their goal positions. Generally, it is advisable to arrange the nodes in a near perpendicular angle and avoid overlap of paths as much as possible. Be mindful that one- and two-way paths can make a big difference in how the navigation network is used by the robots.<br />
<br />
[[Image:BigSceneSim.png|600px]]</div>Denzhttps://wiki.openrobotino.org/index.php?title=Simulator&diff=3963Simulator2018-05-25T13:26:14Z<p>Denz: </p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:Robotino_sim_icon_64.png]]<br />
|Simulate all aspects of Robotino wihtin a physical 3D simulation environment.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[http://www.festo-didactic.com/de-de/service/robotino/simulation/?fbid=ZGUuZGUuNTQ0LjEzLjM0LjE0NDI Robotino Sim Demo]<br />
|}<br />
<br />
==Robotino SIM Professional==<br />
Robotino SIM Professional is the perfect tool to simulate Robotino in environments created by yourself. All sensors/actors) of Robotino are simulated (including the new laser rangefinder and the manipulator).<br />
<br />
For further information please send an email to info@openrobotino.org<br />
<br />
==Robotino SIM==<br />
Free version of the Robotino simulator. Lets you simulate Robotino's drivesystem, distance sensors, camera and more. See Package links for download details.<br />
<br />
==Example Setup==<br />
One way to build a complete Simulation environment involves setting up Robotino SIM in combination with virtual machines that emulate a Robotino and [http://doc.openrobotino.org/RobotinoFactory/ RobotinoFactory]. <br />
<br />
The virtual machines will run the basic Robotino environment plus [[Smartsoft]].<br />
A preconfigured VMWare Workstation VM can be found here: (the VM was created with version 12 but should be compatible with most VMWare versions)<br />
<br />
To use the VM simply import it into your Workstation and clone it as many times as you want robots in your simulated scenario. (Note: You will need Professional editions of the Simulation and VMWare Workstation to use multiple systems)<br />
<br />
Each VM will require some changes to its configuration after it has been cloned:<br />
* Make sure each machine has its own unique IP (preferably manually set)<br />
* /etc/robotino/smartsoft_common.conf: enter the IP of the master system as RemoteNS<br />
* /etc/robotino/smartsoft_master.conf: make sure the autostart option is disabled for all but one machine and all systems have the correct master address entered<br />
* /etc/robotino/smartsoft_slave.conf: enter the Robotinos own IP here, give it a unique ID(RobotinoName) and enter the address and port of the RobotinoSIM machine. The port needs to be the one set up in the simulation under the "plugin" tab when selecting the simulated Robotino.<br />
All these settings can also be adjusted through the [[Robotino Web Interface]].<br />
<br />
(optional) In case you cloned the VM for multiple simulated robots you may want to adjust the host names of the machines to get better descriptive names when connecting to them via ssh or vnc. <br />
* hostnamectl set-hostname NAME<br />
* edit /etc/hosts change 'ubuntu' NAME<br />
<br />
The Robotino VM should now be able to connect to the simulation and be controllable through Robotino Factory by connecting to the SmartSoft master system.<br />
If autostart is enabled for each slave and the VMs should automatically connect to the system on startup.<br />
<br />
<br />
==Example Scenarios==<br />
<br />
====SimpleScene====<br />
A basic example of a simple work environment where the Robotino moves between two machines in a room. The workspace is simply defined as two nodes in front of each of the machines.<br />
<br />
<!--[[Image:SimpleScene.png|right|600px]]--><br />
[[Image:SimpleScene.png|600px]]<br />
<br />
<br />
<br />
====Big Scene====<br />
A more complex setup where a large number of robotinos share a wide workspace with multiple machines. The path network is set up in a way that allows multiple Robotinos to move simultaneously.<br />
<br />
The double roundabout helps the robots to avoid each other while moving towards their goal positions.<br />
<br />
[[Image:BigSceneSim.png|600px]]</div>Denzhttps://wiki.openrobotino.org/index.php?title=File:BigSceneSim.png&diff=3962File:BigSceneSim.png2018-05-25T12:24:24Z<p>Denz: Robotino SIM plus Robotino Factory example</p>
<hr />
<div>Robotino SIM plus Robotino Factory example</div>Denzhttps://wiki.openrobotino.org/index.php?title=File:SimpleScene.png&diff=3961File:SimpleScene.png2018-05-23T08:06:44Z<p>Denz: A simple example scene created in RobotinoSIM</p>
<hr />
<div>A simple example scene created in RobotinoSIM</div>Denzhttps://wiki.openrobotino.org/index.php?title=Simulator&diff=3960Simulator2018-05-22T09:38:27Z<p>Denz: /* Package links */</p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:Robotino_sim_icon_64.png]]<br />
|Simulate all aspects of Robotino wihtin a physical 3D simulation environment.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[http://www.festo-didactic.com/de-de/service/robotino/simulation/?fbid=ZGUuZGUuNTQ0LjEzLjM0LjE0NDI Robotino Sim Demo]<br />
|}<br />
<br />
==Robotino SIM Professional==<br />
Robotino SIM Professional is the perfect tool to simulate Robotino in environments created by yourself. All sensors/actors) of Robotino are simulated (including the new laser rangefinder and the manipulator).<br />
<br />
For further information please send an email to info@openrobotino.org<br />
<br />
==Robotino SIM==<br />
Free version of the Robotino simulator. Lets you simulate Robotino's drivesystem, distance sensors, camera and more. See Package links for download details.</div>Denzhttps://wiki.openrobotino.org/index.php?title=Robotino3_usb_restore&diff=3781Robotino3 usb restore2017-03-06T12:25:30Z<p>Denz: </p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:USB-stick_100.png]]<br />
|Robotino 3 has a SSD that stores the operating system. A bootable USB stick is used to<br />
*initially install the Robotino OS to a new SSD<br />
*overwrite the OS on a SSD already in use.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[[downloads#Robotino3_images|Robotino3 images]]<br />
|}<br />
<br />
==Create a bootable USB-Stick==<br />
If you are using the blue USB-stick that shipped with Robotino you can skip most of these steps and just copy the current image to the USB-stick.<br />
<br />
* Download the Robotino3 [http://doc.openrobotino.org/download/tinycore/CoreCustom_20170207.iso custom image].<br />
* Take a USB-Stick and format it (quick format will do)<br />
* Use [https://unetbootin.github.io/ UNetbootin] to install this custom image to the USB stick.<br />
* Download the latest image and it's md5 file from [http://doc.openrobotino.org/download/tinycore/robotino3image here]. With Firefox you need to right-click the file and choose ''save link''.<br />
* Check the integrity of the image using [http://www.withopf.com/tools/md5/ md5]. Run ''md5 -Check:imagefilename.fsa.md5''.<br />
* Copy the image into the boot directory of your USB-stick.<br />
* Attach monitor and keyboard to your Robotino 3.<br />
* Plug the USB stick into any of Robotino3's USB port.<br />
* Power on Robotino3 and hit the '''F7''' (for Robotino Professional with Core i5), '''F11''' (for Robotino Basic with Atom) as long as you can see the BIOS startup screen.<br />
* Select your USB stick from the list (not the UEFI entry).<br />
* After booting into tinycore the [http://svn.openrobotino.org/tinycore/restore.sh restore script] is executed automatically. '''If there is only on fsa file in the boot folder of the USB stick, the restore process ist started automatically!'''<br />
<br />
===SSID after installing image===<br />
After installing the image and booting Robotino, Robotino's wireless settings are<br />
<pre><br />
SSID: Robotino3AP<br />
PSK: robotino3ap<br />
</pre><br />
<br />
===Trouble shooting===<br />
====No image found====<br />
This can happen, when mounting of the USB-stick failed. Please try the following steps:<br />
<pre><br />
sudo mount /dev/sdb1 /mnt/sdb1<br />
sudo restore.sh<br />
</pre></div>Denzhttps://wiki.openrobotino.org/index.php?title=API2&diff=3673API22016-06-20T07:33:43Z<p>Denz: </p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:Robotino_api2_icon_64.png]]<br />
|The new API2 for Robotino is currently in its final stages of development and it is supposed to replace the current [[OpenRobotinoAPI]] on Robotino.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[[downloads#API2|API2 binary packages]]<br />
<br />
[[downloads#CF_card_images|API2 ready to use CF card image]]<br />
|}<br />
<br />
The new API2 is based on a RPC like infrastructure. The [http://servicerobotics.eu/weitere-projekte/rec-rpc-library/ REC-RPC] library is a interprocess communication middleware similar to ROS. It is completely based on Qt and does not have any other dependencies.<br />
<br />
Documentation can be found [http://doc.openrobotino.org/download/RobotinoAPI2/rec_robotino_api2/index.html here].<br />
=== New features ===<br />
The major new features introduced in the API2 are:<br />
* Kinect sensor now supported<br />
* Support for up to 4 cameras.<br />
* Support for up to 4 laser rangefinders.<br />
* Support for camera controls like brightness, contrast, auto white balance (Note: The supported controls depend on the camera used).<br />
* Integrated web server for controlling Robotino by a web browser or your smartphone.<br />
* Easier build process due to minimal dependencies on external libraries.<br />
* Uses TCP port 12080 for communication only. This minimizes problems with firewalls.<br />
<br />
== Getting started ==<br />
* [[API2_quickstart|Quickstart guide to use API2]]<br />
* [[Cpp2|How to build API2 examples]]<br />
* [[API2_install_daemons|How to install API2 daemons on Robotino]]<br />
* [[API2_source_build|Building API2 from sources]]<br />
* [[Cpp2|C++ programming with API2]]<br />
* [[Java|Java programming with API2]]<br />
* [[dotnet|.Net programming with API2]]<br />
<br />
== Robotino API2 Overview ==<br />
<br />
<imagemap>Image:Api2_overview_600.png|<br />
rect 0 96 103 144 [[smartsoft|]]<br />
rect 25 158 103 204 [[dotnet|]]<br />
rect 25 215 103 263 [[java|]]<br />
rect 0 285 81 334 [[matlab|]]<br />
rect 1 347 81 393 [[labview|]]<br />
rect 1 405 80 453 [[ROS|]]<br />
rect 1 465 80 513 [[MRDS|]]<br />
rect 111 46 163 509 [[Cpp|]]<br />
rect 210 586 284 640 [[fcgid|]]<br />
rect 185 689 297 743 [[fleetcomd|]]<br />
rect 316 46 358 852 [[rpcd|]]<br />
rect 391 46 464 101 [[controld3|]]<br />
rect 390 121 464 175 [[lcdd2|]]<br />
rect 391 196 464 251 [[camd2|]]<br />
rect 391 330 464 386 [[ftdid|]]<br />
rect 391 495 464 551 [[laserd2|]]<br />
rect 391 600 464 654 [[robotinoxtd|]]<br />
rect 391 720 464 775 [[grapplerd|]]<br />
rect 391 794 464 851 [[kinectd|]]<br />
rect 494 46 554 123 [[I/O_boards|]]<br />
rect 496 136 568 187 [[display|]]<br />
rect 495 197 557 272 [[camera|]]<br />
rect 495 284 570 358 [[gyro|]]<br />
rect 495 375 566 467 [[northstar|]]<br />
rect 495 479 558 579 [[scanner|]]<br />
rect 494 600 588 666 [[cbha|]]<br />
rect 494 675 565 786 [[grappler|]]<br />
rect 494 801 589 859 [[kinect|]]<br />
rect 45 569 165 659 [[Robotino_Web_Interface|]]<br />
</imagemap></div>Denzhttps://wiki.openrobotino.org/index.php?title=ROS&diff=3671ROS2016-06-15T15:14:48Z<p>Denz: Reverted edits by Denz (talk) to last revision by Suraj</p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:Robotino_ros_icon_64.png]]<br />
|The [http://www.ros.org/wiki/ Robot Operating System ROS] hosted and maintained by [http://www.willowgarage.com/ Willow Garage] is a free meta operating system for mobile robots. This page describes the adaption of Robotino C++ API2 to ROS.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[http://www.ros.org/wiki/robotino robotino] - Contains the essential packages for communicating with Robotino.<br />
<br />
[http://www.ros.org/wiki/robotino_grappler robotino_grappler] - If you own a [[Grappler]] then this stack provides packages to manipulate it with ROS.<br />
<br />
[http://www.ros.org/wiki/robotino_kinect robotino_kinect] - If you own a [[Kinect]] sensor then this stack provides packages to explore the possibilities of Robotino and Kinect in ROS.<br />
|}<br />
<br />
{{#ev:youtube|N7Gbe7vnufM}}<br />
<br />
==Installation==<br />
You will need a Linux (preferable Ubuntu) PC in order to run ROS. As we need much computational power for SLAM and especially path planning Robotinos PC104 is overstrained. So we use a laptop or desktop PC communicating to Robotino via wireless.<br />
<br />
Install ROS. How to do this read [http://www.ros.org/wiki/ROS/Installation the ROS installation instructions].<br />
<br />
Install [[API2]] packages on Robotino.<br />
<br />
Get the Robotino ROS drivers:<br />
<br />
<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/ robotino-ros-pkg</code><br />
<br />
'''Hydro (Catkin)'''<br />
<br />
<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/catkin-pkg/ robotino-ros-pkg</code><br />
NOTE: In the hydro version Kinect support from within robotino_node has be removed. For Kinect usage please use openni packages externally.<br />
<br />
Put the robotino-ros-pkg into the ROS_PACKAGE_PATH. If everything is setup correctly you can run<br />
<br />
<code>For Fuerte: rosmake robotino</code><br />
<br />
<code>For Hydro (after creating the appropriate workspace and checking out the code): catkin_make</code><br />
<br />
==Hardware==<br />
What you really need to use ROS in a meaningful way is a [http://www.roboparts.de/robotino/scanner/en laser rangefinder for Robotino].</div>Denzhttps://wiki.openrobotino.org/index.php?title=ROS&diff=3670ROS2016-06-15T15:14:30Z<p>Denz: /* Installation */</p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:Robotino_ros_icon_64.png]]<br />
|The [http://www.ros.org/wiki/ Robot Operating System ROS] hosted and maintained by [http://www.willowgarage.com/ Willow Garage] is a free meta operating system for mobile robots. This page describes the adaption of Robotino C++ API2 to ROS.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[http://www.ros.org/wiki/robotino robotino] - Contains the essential packages for communicating with Robotino.<br />
<br />
[http://www.ros.org/wiki/robotino_grappler robotino_grappler] - If you own a [[Grappler]] then this stack provides packages to manipulate it with ROS.<br />
<br />
[http://www.ros.org/wiki/robotino_kinect robotino_kinect] - If you own a [[Kinect]] sensor then this stack provides packages to explore the possibilities of Robotino and Kinect in ROS.<br />
|}<br />
<br />
{{#ev:youtube|N7Gbe7vnufM}}<br />
<br />
==Installation==<br />
You will need a Linux (preferable Ubuntu) PC in order to run ROS. As we need much computational power for SLAM and especially path planning Robotinos PC104 is overstrained. So we use a laptop or desktop PC communicating to Robotino via wireless.<br />
<br />
Install ROS. How to do this read [http://www.ros.org/wiki/ROS/Installation the ROS installation instructions].<br />
<br />
Install [[API2]] packages on Robotino.<br />
<br />
Get the Robotino ROS packages:<br />
<br />
'''Hydro (Catkin)'''<br />
<br />
<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/catkin-pkg/ robotino-ros-pkg</code><br />
NOTE: In the hydro version Kinect support from within robotino_node has be removed. For Kinect usage please use openni packages externally.<br />
<br />
Put the robotino-ros-pkg into the ROS_PACKAGE_PATH. If everything is setup correctly you can run<br />
<br />
<code>For Fuerte: rosmake robotino</code><br />
<br />
<code>For Hydro and later (after creating the appropriate workspace and checking out the code): catkin_make</code><br />
<br />
NOTE: You will need the ROS "navigation" stack in order to build and run the Robotino nodes.<br />
<br />
==Hardware==<br />
What you really need to use ROS in a meaningful way is a [http://www.roboparts.de/robotino/scanner/en laser rangefinder for Robotino].</div>Denzhttps://wiki.openrobotino.org/index.php?title=API2_quickstart&diff=3669API2 quickstart2016-06-15T14:17:30Z<p>Denz: /* Linux/Robotino */</p>
<hr />
<div>To get started with the Robotino API2 quickly, you have the option of installing the binary package on Windows or the debian packages on Linux.<br />
==Installation==<br />
===Windows===<br />
[[downloads#API2_Beta|API2 binary package]]<br />
<br />
===Linux/Robotino===<br />
For Linux users there are [[Debrepository|repositories]] available for all supported Ubuntu versions.<br />
<br />
== Building the Robotino API2 examples on Linux/Robotino ==<br />
<pre><br />
mkdir -p build/circle<br />
cd build/circle<br />
ccmake /usr/local/robotino/examples/src/c++/circle/<br />
configure(c) 2x, generate(g)<br />
make<br />
</pre><br />
<br />
The circle example, for instance, can be run by specifying the IP Address of Robotino. If you are running the example on Robotino itself then the IP Address will be 127.0.0.1 as shown below:<br />
<br />
<pre><br />
target/example_circle 127.0.0.1<br />
</pre><br />
<br />
== Building the Robotino API2 from the sources ==<br />
You may also optionally build the [[API2_source_build|Robotino API2 from its sources]].</div>Denzhttps://wiki.openrobotino.org/index.php?title=Downloads&diff=3668Downloads2016-06-15T14:16:32Z<p>Denz: /* Image:Robotino_c_icon_32.png Image:Robotino_cpp_icon_32.png Image:Robotino_java_icon_32.png Image:Robotino_dotnet_icon_32.png API2 */</p>
<hr />
<div>==[[Image:Robotino_icon_32.png]] Robotino View==<br />
{| border="1"<br />
!Version<br />
!OS<br />
!Link<br />
|-<br />
|3.xx<br />
|Windows 32bit<br />
|[http://doc.openrobotino.org/download/RobotinoView/robview3_current.php download]<br />
|-<br />
|2.8.4<br />
|Windows 32bit<br />
|[http://doc.openrobotino.org/download/RobotinoView/RobotinoView-2.8.4.exe download]<br />
|-<br />
|2.8.4<br />
|Linux 32bit<br />
|[http://doc.openrobotino.org/download/packages/robview2_current.php download]<br />
|}<br />
<br />
<pre><br />
Version 2.9.1<br />
New features:<br />
- Updates your v2.4 CF card to API2 (no access with Robotino 2.8 or earlier possible any more)<br />
Version 2.9.0<br />
New features:<br />
- Support for Robotino OS 3.x added.<br />
- Function blocks for 3D marker detection and camera calibration.<br />
</pre><br />
<br />
==[[Image:Robotino_c_icon_32.png]] [[Image:Robotino_cpp_icon_32.png]] [[Image:Robotino_java_icon_32.png]] [[Image:Robotino_dotnet_icon_32.png]] API2==<br />
{| border="1"<br />
!Version<br />
!OS<br />
!Compiler<br />
!Link<br />
|-<br />
|latest<br />
|Windows 32bit<br />
|Visual Studio 2010 32bit<br />
|[http://doc.openrobotino.org/download/RobotinoAPI2/robotino_api2-i386_current.php download]<br />
|-<br />
|latest<br />
|Windows 64bit<br />
|Visual Studio 2010 64bit<br />
|[http://doc.openrobotino.org/download/RobotinoAPI2/robotino_api2-amd64_current.php download]<br />
|}<br />
Also contains Matlab API2 wrapper.<br />
<br />
For Linux users there are [[Debrepository|repositories]] available for all supported Ubuntu versions.<br />
<br />
==[[Image:cfcard_32.png]] CF card images(Robotino until 2013)==<br />
{| border="1"<br />
* Tutorial: How to flash a [[CF card]] for Robotino 2<br />
!Version<br />
!CF-card size<br />
!dd<br />
|-<br />
|2.4<br />
|1GB<br />
|[http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325.dd.gz dd-image (265MB)] [http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325.dd.gz.md5 md5sum]<br />
|-<br />
|2.4<br />
|4GB<br />
|[http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325_4GB.dd.gz dd-image (506MB)] [http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325_4GB.dd.gz.md5 md5sum]<br />
|}<br />
<br />
4GB images contain<br />
* Sun Java 6 JDK<br />
* ANT compiler<br />
* Robotino View 2 API<br />
<br />
All images and tools can be found [http://doc.openrobotino.org/download/flashcard/ here].<br />
<br />
==[[Image:USB-stick_32.png]] Robotino3 (2014 or later) images==<br />
{| border="1"<br />
!Version<br />
!Description<br />
|-<br />
|[http://doc.openrobotino.org/download/tinycore/robotino3image/robotino3-1.2.4.fsa 1.2.4]<br />
| Robotino View 3.0.16, Autostart option ([[Robotino3_images#1.2.4|package list]])<br />
|-<br />
|[http://doc.openrobotino.org/download/tinycore/robotino3image/robotino3-2.0.4.fsa 2.0.4]<br />
| Ubuntu 14.04.1 ([[Robotino3_images#2.0.4|package list]])<br />
|}<br />
<br />
All images can be found [http://doc.openrobotino.org/download/tinycore/robotino3image/ here]. Read [[Robotino3_usb_restore]] how-to install the image to your Robotino.<br />
<br />
After installing a new image the SSID of your Robotino is ''Robotino3AP''. The PSK is ''robotino3ap''.<br />
<br />
==[[Image:Robotino_matlab_icon_32.png]] Matlab==<br />
{| border="1"<br />
!Version<br />
!Description<br />
!Link<br />
|-<br />
|2.1.1<br />
|Uses the old API1. Runs with Robotino2.<br />
|[http://doc.openrobotino.org/download/RobotinoMatlab/Robotino_Matlab-2.1.1.exe download]<br />
|-<br />
|latest<br />
|Uses API2. Runs with Robotino3 or updated Robotino2.<br />
|See API2 packages<br />
|}<br />
<br />
==[[Image:Robotino_labview_icon_32.png]] LabVIEW==<br />
{| border="1"<br />
!API<br />
!Version<br />
!Link<br />
|-<br />
|API1 for Robotino v2<br />
|2.0.0<br />
|[http://doc.openrobotino.org/download/LabView/RobotinoLabVIEWDrivers-2.0.0.exe download]<br />
|-<br />
|API2 for Robotino v3<br />
|1.0.0<br />
|[http://doc.openrobotino.org/download/LabView/RobotinoAPI2LabVIEWDrivers-1.0.0.exe download]<br />
|}<br />
<br />
LabVIEW Drivers (32 and 64 bit) tested with<br />
* LabView 8.5.1 (32 bit)<br />
* LabView 2010 (32 bit)<br />
* LabView 2010 (64 bit)<br />
<br />
==[[Image:Robotino_tools_icon_32.png]] Robotino tools==<br />
{| border="1"<br />
!Version<br />
!OS<br />
!Link<br />
|-<br />
|latest<br />
|Windows 32bit<br />
|[http://doc.openrobotino.org/download/EA09/robotino_tools-i386_current.php download]<br />
|-<br />
|latest<br />
|Windows 64bit<br />
|[http://doc.openrobotino.org/download/EA09/robotino_tools-amd64_current.php download]<br />
|}<br />
Source code available at [http://svn.openrobotino.org/tools/trunk svn.openrobotino.org].<br />
<br />
Combines ea09com, EA09View and the EA09 matlab drivers.<br />
<br />
==[[Image:Robotino_mrds4_icon_32.png]] MRDS4 package==<br />
[http://doc.openrobotino.org/download/MRDS4/mrds4_current.php Latest MRDS4 package for Robotino]. You need to run [[API2]] on Robotino.</div>Denzhttps://wiki.openrobotino.org/index.php?title=Downloads&diff=3667Downloads2016-06-15T14:15:31Z<p>Denz: /* Image:Robotino_c_icon_32.png Image:Robotino_cpp_icon_32.png Image:Robotino_java_icon_32.png Image:Robotino_dotnet_icon_32.png API2 */</p>
<hr />
<div>==[[Image:Robotino_icon_32.png]] Robotino View==<br />
{| border="1"<br />
!Version<br />
!OS<br />
!Link<br />
|-<br />
|3.xx<br />
|Windows 32bit<br />
|[http://doc.openrobotino.org/download/RobotinoView/robview3_current.php download]<br />
|-<br />
|2.8.4<br />
|Windows 32bit<br />
|[http://doc.openrobotino.org/download/RobotinoView/RobotinoView-2.8.4.exe download]<br />
|-<br />
|2.8.4<br />
|Linux 32bit<br />
|[http://doc.openrobotino.org/download/packages/robview2_current.php download]<br />
|}<br />
<br />
<pre><br />
Version 2.9.1<br />
New features:<br />
- Updates your v2.4 CF card to API2 (no access with Robotino 2.8 or earlier possible any more)<br />
Version 2.9.0<br />
New features:<br />
- Support for Robotino OS 3.x added.<br />
- Function blocks for 3D marker detection and camera calibration.<br />
</pre><br />
<br />
==[[Image:Robotino_c_icon_32.png]] [[Image:Robotino_cpp_icon_32.png]] [[Image:Robotino_java_icon_32.png]] [[Image:Robotino_dotnet_icon_32.png]] API2==<br />
{| border="1"<br />
!Version<br />
!OS<br />
!Compiler<br />
!Link<br />
|-<br />
|latest<br />
|Windows 32bit<br />
|Visual Studio 2010 32bit<br />
|[http://doc.openrobotino.org/download/RobotinoAPI2/robotino_api2-i386_current.php download]<br />
|-<br />
|latest<br />
|Windows 64bit<br />
|Visual Studio 2010 64bit<br />
|[http://doc.openrobotino.org/download/RobotinoAPI2/robotino_api2-amd64_current.php download]<br />
|-<br />
|latest<br />
|Linux i386<br />
|gcc 4.2<br />
|[http://doc.openrobotino.org/download/packages/i386/robotino-api2_current.php download]<br />
|-<br />
|latest<br />
|Linux amd64<br />
|gcc 4.2<br />
|[http://doc.openrobotino.org/download/packages/amd64/robotino-api2_current.php download]<br />
|}<br />
Also contains Matlab API2 wrapper.<br />
<br />
There are [[Debrepository|repositories]] available for all supported Ubuntu versions.<br />
<br />
==[[Image:cfcard_32.png]] CF card images(Robotino until 2013)==<br />
{| border="1"<br />
* Tutorial: How to flash a [[CF card]] for Robotino 2<br />
!Version<br />
!CF-card size<br />
!dd<br />
|-<br />
|2.4<br />
|1GB<br />
|[http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325.dd.gz dd-image (265MB)] [http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325.dd.gz.md5 md5sum]<br />
|-<br />
|2.4<br />
|4GB<br />
|[http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325_4GB.dd.gz dd-image (506MB)] [http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325_4GB.dd.gz.md5 md5sum]<br />
|}<br />
<br />
4GB images contain<br />
* Sun Java 6 JDK<br />
* ANT compiler<br />
* Robotino View 2 API<br />
<br />
All images and tools can be found [http://doc.openrobotino.org/download/flashcard/ here].<br />
<br />
==[[Image:USB-stick_32.png]] Robotino3 (2014 or later) images==<br />
{| border="1"<br />
!Version<br />
!Description<br />
|-<br />
|[http://doc.openrobotino.org/download/tinycore/robotino3image/robotino3-1.2.4.fsa 1.2.4]<br />
| Robotino View 3.0.16, Autostart option ([[Robotino3_images#1.2.4|package list]])<br />
|-<br />
|[http://doc.openrobotino.org/download/tinycore/robotino3image/robotino3-2.0.4.fsa 2.0.4]<br />
| Ubuntu 14.04.1 ([[Robotino3_images#2.0.4|package list]])<br />
|}<br />
<br />
All images can be found [http://doc.openrobotino.org/download/tinycore/robotino3image/ here]. Read [[Robotino3_usb_restore]] how-to install the image to your Robotino.<br />
<br />
After installing a new image the SSID of your Robotino is ''Robotino3AP''. The PSK is ''robotino3ap''.<br />
<br />
==[[Image:Robotino_matlab_icon_32.png]] Matlab==<br />
{| border="1"<br />
!Version<br />
!Description<br />
!Link<br />
|-<br />
|2.1.1<br />
|Uses the old API1. Runs with Robotino2.<br />
|[http://doc.openrobotino.org/download/RobotinoMatlab/Robotino_Matlab-2.1.1.exe download]<br />
|-<br />
|latest<br />
|Uses API2. Runs with Robotino3 or updated Robotino2.<br />
|See API2 packages<br />
|}<br />
<br />
==[[Image:Robotino_labview_icon_32.png]] LabVIEW==<br />
{| border="1"<br />
!API<br />
!Version<br />
!Link<br />
|-<br />
|API1 for Robotino v2<br />
|2.0.0<br />
|[http://doc.openrobotino.org/download/LabView/RobotinoLabVIEWDrivers-2.0.0.exe download]<br />
|-<br />
|API2 for Robotino v3<br />
|1.0.0<br />
|[http://doc.openrobotino.org/download/LabView/RobotinoAPI2LabVIEWDrivers-1.0.0.exe download]<br />
|}<br />
<br />
LabVIEW Drivers (32 and 64 bit) tested with<br />
* LabView 8.5.1 (32 bit)<br />
* LabView 2010 (32 bit)<br />
* LabView 2010 (64 bit)<br />
<br />
==[[Image:Robotino_tools_icon_32.png]] Robotino tools==<br />
{| border="1"<br />
!Version<br />
!OS<br />
!Link<br />
|-<br />
|latest<br />
|Windows 32bit<br />
|[http://doc.openrobotino.org/download/EA09/robotino_tools-i386_current.php download]<br />
|-<br />
|latest<br />
|Windows 64bit<br />
|[http://doc.openrobotino.org/download/EA09/robotino_tools-amd64_current.php download]<br />
|}<br />
Source code available at [http://svn.openrobotino.org/tools/trunk svn.openrobotino.org].<br />
<br />
Combines ea09com, EA09View and the EA09 matlab drivers.<br />
<br />
==[[Image:Robotino_mrds4_icon_32.png]] MRDS4 package==<br />
[http://doc.openrobotino.org/download/MRDS4/mrds4_current.php Latest MRDS4 package for Robotino]. You need to run [[API2]] on Robotino.</div>Denzhttps://wiki.openrobotino.org/index.php?title=Downloads&diff=3666Downloads2016-06-15T14:11:42Z<p>Denz: </p>
<hr />
<div>==[[Image:Robotino_icon_32.png]] Robotino View==<br />
{| border="1"<br />
!Version<br />
!OS<br />
!Link<br />
|-<br />
|3.xx<br />
|Windows 32bit<br />
|[http://doc.openrobotino.org/download/RobotinoView/robview3_current.php download]<br />
|-<br />
|2.8.4<br />
|Windows 32bit<br />
|[http://doc.openrobotino.org/download/RobotinoView/RobotinoView-2.8.4.exe download]<br />
|-<br />
|2.8.4<br />
|Linux 32bit<br />
|[http://doc.openrobotino.org/download/packages/robview2_current.php download]<br />
|}<br />
<br />
<pre><br />
Version 2.9.1<br />
New features:<br />
- Updates your v2.4 CF card to API2 (no access with Robotino 2.8 or earlier possible any more)<br />
Version 2.9.0<br />
New features:<br />
- Support for Robotino OS 3.x added.<br />
- Function blocks for 3D marker detection and camera calibration.<br />
</pre><br />
<br />
==[[Image:Robotino_c_icon_32.png]] [[Image:Robotino_cpp_icon_32.png]] [[Image:Robotino_java_icon_32.png]] [[Image:Robotino_dotnet_icon_32.png]] API2==<br />
{| border="1"<br />
!Version<br />
!OS<br />
!Compiler<br />
!Link<br />
|-<br />
|latest<br />
|Windows 32bit<br />
|Visual Studio 2010 32bit<br />
|[http://doc.openrobotino.org/download/RobotinoAPI2/robotino_api2-i386_current.php download]<br />
|-<br />
|latest<br />
|Windows 64bit<br />
|Visual Studio 2010 64bit<br />
|[http://doc.openrobotino.org/download/RobotinoAPI2/robotino_api2-amd64_current.php download]<br />
|-<br />
|latest<br />
|Linux i386<br />
|gcc 4.2<br />
|[http://doc.openrobotino.org/download/packages/i386/robotino-api2_current.php download]<br />
|-<br />
|latest<br />
|Linux amd64<br />
|gcc 4.2<br />
|[http://doc.openrobotino.org/download/packages/amd64/robotino-api2_current.php download]<br />
|}<br />
Also contains Matlab API2 wrapper.<br />
<br />
Linux i386 users could also edit /etc/apt/sources.list and add<br />
<pre>deb http://doc.openrobotino.org/download/packages/i386 ./</pre><br />
<br />
Linux amd64 users could also edit /etc/apt/sources.list and add<br />
<pre>deb http://doc.openrobotino.org/download/packages/amd64 ./</pre><br />
<br />
==[[Image:cfcard_32.png]] CF card images(Robotino until 2013)==<br />
{| border="1"<br />
* Tutorial: How to flash a [[CF card]] for Robotino 2<br />
!Version<br />
!CF-card size<br />
!dd<br />
|-<br />
|2.4<br />
|1GB<br />
|[http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325.dd.gz dd-image (265MB)] [http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325.dd.gz.md5 md5sum]<br />
|-<br />
|2.4<br />
|4GB<br />
|[http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325_4GB.dd.gz dd-image (506MB)] [http://doc.openrobotino.org/download/flashcard/Robotino_CF_Image_V24_20110325_4GB.dd.gz.md5 md5sum]<br />
|}<br />
<br />
4GB images contain<br />
* Sun Java 6 JDK<br />
* ANT compiler<br />
* Robotino View 2 API<br />
<br />
All images and tools can be found [http://doc.openrobotino.org/download/flashcard/ here].<br />
<br />
==[[Image:USB-stick_32.png]] Robotino3 (2014 or later) images==<br />
{| border="1"<br />
!Version<br />
!Description<br />
|-<br />
|[http://doc.openrobotino.org/download/tinycore/robotino3image/robotino3-1.2.4.fsa 1.2.4]<br />
| Robotino View 3.0.16, Autostart option ([[Robotino3_images#1.2.4|package list]])<br />
|-<br />
|[http://doc.openrobotino.org/download/tinycore/robotino3image/robotino3-2.0.4.fsa 2.0.4]<br />
| Ubuntu 14.04.1 ([[Robotino3_images#2.0.4|package list]])<br />
|}<br />
<br />
All images can be found [http://doc.openrobotino.org/download/tinycore/robotino3image/ here]. Read [[Robotino3_usb_restore]] how-to install the image to your Robotino.<br />
<br />
After installing a new image the SSID of your Robotino is ''Robotino3AP''. The PSK is ''robotino3ap''.<br />
<br />
==[[Image:Robotino_matlab_icon_32.png]] Matlab==<br />
{| border="1"<br />
!Version<br />
!Description<br />
!Link<br />
|-<br />
|2.1.1<br />
|Uses the old API1. Runs with Robotino2.<br />
|[http://doc.openrobotino.org/download/RobotinoMatlab/Robotino_Matlab-2.1.1.exe download]<br />
|-<br />
|latest<br />
|Uses API2. Runs with Robotino3 or updated Robotino2.<br />
|See API2 packages<br />
|}<br />
<br />
==[[Image:Robotino_labview_icon_32.png]] LabVIEW==<br />
{| border="1"<br />
!API<br />
!Version<br />
!Link<br />
|-<br />
|API1 for Robotino v2<br />
|2.0.0<br />
|[http://doc.openrobotino.org/download/LabView/RobotinoLabVIEWDrivers-2.0.0.exe download]<br />
|-<br />
|API2 for Robotino v3<br />
|1.0.0<br />
|[http://doc.openrobotino.org/download/LabView/RobotinoAPI2LabVIEWDrivers-1.0.0.exe download]<br />
|}<br />
<br />
LabVIEW Drivers (32 and 64 bit) tested with<br />
* LabView 8.5.1 (32 bit)<br />
* LabView 2010 (32 bit)<br />
* LabView 2010 (64 bit)<br />
<br />
==[[Image:Robotino_tools_icon_32.png]] Robotino tools==<br />
{| border="1"<br />
!Version<br />
!OS<br />
!Link<br />
|-<br />
|latest<br />
|Windows 32bit<br />
|[http://doc.openrobotino.org/download/EA09/robotino_tools-i386_current.php download]<br />
|-<br />
|latest<br />
|Windows 64bit<br />
|[http://doc.openrobotino.org/download/EA09/robotino_tools-amd64_current.php download]<br />
|}<br />
Source code available at [http://svn.openrobotino.org/tools/trunk svn.openrobotino.org].<br />
<br />
Combines ea09com, EA09View and the EA09 matlab drivers.<br />
<br />
==[[Image:Robotino_mrds4_icon_32.png]] MRDS4 package==<br />
[http://doc.openrobotino.org/download/MRDS4/mrds4_current.php Latest MRDS4 package for Robotino]. You need to run [[API2]] on Robotino.</div>Denzhttps://wiki.openrobotino.org/index.php?title=Software_overview&diff=3665Software overview2016-06-15T14:08:44Z<p>Denz: /* Image:Software_overview_64.png Introduction */</p>
<hr />
<div>==[[Image:Software_overview_64.png]] Introduction==<br />
Robotino is an open source robot, i.e. all the software on Robotino and all APIs are open source. This gives developers the maximum flexibility in creating software for Robotino and the certainty that this software is not affected by any open source unfriendly license.<br />
<br />
The software available is<br />
* [http://svn.openrobotino.org/firmware/ microcontroller code for Robotinos IO board]<br />
* [http://svn.openrobotino.org/daemons/ the code of the daemons running on Robotino interfacing the hardware]<br />
* [http://svn.openrobotino.org/api2/ the main C++ API for communication with Robotino]<br />
* [http://svn.openrobotino.org/wrapper/ APIs build on top of the C++ API]<br />
<br />
==Packages==<br />
[[Image:Software_components.png]]<br />
<br />
The picture above shows the main software packages available for Robotino.<br />
<br />
====[[Image:cfcard_32.png]] Robotino OS====<br />
The operating system for Robotino is based on [http://ubuntuguide.org/wiki/Ubuntu:Jaunty Ubuntu Jaunty]. The kernel had been replaced by a custom made kernel with [https://www.rtai.org/ RTAI] patches. [[CF_card|Disk images]] with the Robotino OS can be download from the [[Downloads|download section]].<br />
* Version 2.x cards run the rec::robotino::com interface<br />
* Version 3.x cards run the rec::robotino::api2 interface. The api1d provides a API1 compatibility interface. You are able to connect with all 2.x software to 3.x CF cards.<br />
<br />
====[[Image:Robotino_sim_icon_32.png|link=Simulator]] Robotino Sim====<br />
The Robotino simulator lets you simulate Robotino in a physical 3D simulation environment.<br />
* Version 2.x of the simulator can be accessed by the rec::robotino::com C++ library and all versions of Robotino View.<br />
<br />
====[[Image:Robotino_icon_32.png]] Robotino View====<br />
Robotino View is the graphical programming environment for Robotino.<br />
* Version 2.x of Robotino View can connect to Robotino OS 2.x and Robotino Sim 2.x<br />
:uses rec::robotino::com to setup a connection to the hardware/simulator.<br />
* Version 3.x (including the current beta version 2.9.x) can connect to all Robotino OS and Robotino Sim versions.<br />
:uses both rec::robotino::com and rec::robotino::api2 to setup a connection to the hardware/simulator. It automatically detects which software is running.<br />
<br />
====[[Image:Robotino_cpp_icon_32.png|link=cpp]] C++ API====<br />
This is a C++ library providing the main interface for controlling Robotino. See [[cpp|C++ programming]] for examples how to use this library. The library documentation can be found [http://doc.openrobotino.org/documentation/OpenRobotinoAPI/1/doc/rec_robotino_com/ here].<br />
* The current official library is the [[API2|rec::robotino::api2]] library<br />
<br />
====[[Image:Robotino_c_icon_32.png|link=http://doc.openrobotino.org/documentation/OpenRobotinoAPI/1/doc/rec_robotino_com_c/]] C Library====<br />
A C wrapper library around rec_robotino_com. The library documentation can be found [http://doc.openrobotino.org/documentation/OpenRobotinoAPI/1/doc/rec_robotino_com_c/ here].<br />
* The [[API2|rec::robotino::api2]] library contains the C library<br />
<br />
====[[Image:Robotino_java_icon_32.png|link=Java]] Java Library====<br />
A Java wrapper library around rec_robotino_com.<br />
<br />
====[[Image:Robotino_dotnet_icon_32.png|link=dotnet]] .Net Library====<br />
A .Net wrapper library around rec_robotino_com.<br />
<br />
====[[Image:Robotino_ros_icon_32.png|link=ROS]] ROS====<br />
[[ROS|ROS drivers for Robotino]] using the rec_robotino_com library.<br />
<br />
====[[Image:Robotino_matlab_icon_32.png|link=matlab]] Matlab====<br />
[[matlab|Robotino Matlab drivers]] using the C wrapper library to communicate with Robotino.<br />
<br />
====[[Image:Robotino_labview_icon_32.png|link=labview]] LabView====<br />
[[labview|Robotino LabView drivers]] using the C wrapper library to communicate with Robotino.<br />
<br />
====[[Image:Robotino_mrds4_icon_32.png|link=MRDS]] Microsoft Robotics Developer Studio====<br />
[[MRDS|Robotino driver for MRDS4]] build upon the .Net wrapper for [[API2]].</div>Denzhttps://wiki.openrobotino.org/index.php?title=Software_overview&diff=3664Software overview2016-06-15T14:07:53Z<p>Denz: /* link=cpp C++ API */</p>
<hr />
<div>==[[Image:Software_overview_64.png]] Introduction==<br />
Robotino is an open source robot, i.e. all the software on Robotino and all APIs are open source. This gives developers the maximum flexebility in creating software for Robotino and the certainty that this software is not affected by any open source unfriendly license.<br />
<br />
The software available is<br />
* [http://svn.openrobotino.org/firmware/ microcontroller code for Robotinos IO board]<br />
* [http://svn.openrobotino.org/daemons/ the code of the daemons running on Robotino interfacing the hardware]<br />
* [http://svn.openrobotino.org/api2/ the main C++ API for communication with Robotino]<br />
* [http://svn.openrobotino.org/wrapper/ APIs build on top of the C++ API]<br />
<br />
==Packages==<br />
[[Image:Software_components.png]]<br />
<br />
The picture above shows the main software packages available for Robotino.<br />
<br />
====[[Image:cfcard_32.png]] Robotino OS====<br />
The operating system for Robotino is based on [http://ubuntuguide.org/wiki/Ubuntu:Jaunty Ubuntu Jaunty]. The kernel had been replaced by a custom made kernel with [https://www.rtai.org/ RTAI] patches. [[CF_card|Disk images]] with the Robotino OS can be download from the [[Downloads|download section]].<br />
* Version 2.x cards run the rec::robotino::com interface<br />
* Version 3.x cards run the rec::robotino::api2 interface. The api1d provides a API1 compatibility interface. You are able to connect with all 2.x software to 3.x CF cards.<br />
<br />
====[[Image:Robotino_sim_icon_32.png|link=Simulator]] Robotino Sim====<br />
The Robotino simulator lets you simulate Robotino in a physical 3D simulation environment.<br />
* Version 2.x of the simulator can be accessed by the rec::robotino::com C++ library and all versions of Robotino View.<br />
<br />
====[[Image:Robotino_icon_32.png]] Robotino View====<br />
Robotino View is the graphical programming environment for Robotino.<br />
* Version 2.x of Robotino View can connect to Robotino OS 2.x and Robotino Sim 2.x<br />
:uses rec::robotino::com to setup a connection to the hardware/simulator.<br />
* Version 3.x (including the current beta version 2.9.x) can connect to all Robotino OS and Robotino Sim versions.<br />
:uses both rec::robotino::com and rec::robotino::api2 to setup a connection to the hardware/simulator. It automatically detects which software is running.<br />
<br />
====[[Image:Robotino_cpp_icon_32.png|link=cpp]] C++ API====<br />
This is a C++ library providing the main interface for controlling Robotino. See [[cpp|C++ programming]] for examples how to use this library. The library documentation can be found [http://doc.openrobotino.org/documentation/OpenRobotinoAPI/1/doc/rec_robotino_com/ here].<br />
* The current official library is the [[API2|rec::robotino::api2]] library<br />
<br />
====[[Image:Robotino_c_icon_32.png|link=http://doc.openrobotino.org/documentation/OpenRobotinoAPI/1/doc/rec_robotino_com_c/]] C Library====<br />
A C wrapper library around rec_robotino_com. The library documentation can be found [http://doc.openrobotino.org/documentation/OpenRobotinoAPI/1/doc/rec_robotino_com_c/ here].<br />
* The [[API2|rec::robotino::api2]] library contains the C library<br />
<br />
====[[Image:Robotino_java_icon_32.png|link=Java]] Java Library====<br />
A Java wrapper library around rec_robotino_com.<br />
<br />
====[[Image:Robotino_dotnet_icon_32.png|link=dotnet]] .Net Library====<br />
A .Net wrapper library around rec_robotino_com.<br />
<br />
====[[Image:Robotino_ros_icon_32.png|link=ROS]] ROS====<br />
[[ROS|ROS drivers for Robotino]] using the rec_robotino_com library.<br />
<br />
====[[Image:Robotino_matlab_icon_32.png|link=matlab]] Matlab====<br />
[[matlab|Robotino Matlab drivers]] using the C wrapper library to communicate with Robotino.<br />
<br />
====[[Image:Robotino_labview_icon_32.png|link=labview]] LabView====<br />
[[labview|Robotino LabView drivers]] using the C wrapper library to communicate with Robotino.<br />
<br />
====[[Image:Robotino_mrds4_icon_32.png|link=MRDS]] Microsoft Robotics Developer Studio====<br />
[[MRDS|Robotino driver for MRDS4]] build upon the .Net wrapper for [[API2]].</div>Denzhttps://wiki.openrobotino.org/index.php?title=ROS&diff=3661ROS2016-06-15T10:09:20Z<p>Denz: /* Installation */</p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:Robotino_ros_icon_64.png]]<br />
|The [http://www.ros.org/wiki/ Robot Operating System ROS] hosted and maintained by [http://www.willowgarage.com/ Willow Garage] is a free meta operating system for mobile robots. This page describes the adaption of Robotino C++ API2 to ROS.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[http://www.ros.org/wiki/robotino robotino] - Contains the essential packages for communicating with Robotino.<br />
<br />
[http://www.ros.org/wiki/robotino_grappler robotino_grappler] - If you own a [[Grappler]] then this stack provides packages to manipulate it with ROS.<br />
<br />
[http://www.ros.org/wiki/robotino_kinect robotino_kinect] - If you own a [[Kinect]] sensor then this stack provides packages to explore the possibilities of Robotino and Kinect in ROS.<br />
|}<br />
<br />
{{#ev:youtube|N7Gbe7vnufM}}<br />
<br />
==Installation==<br />
You will need a Linux (preferable Ubuntu) PC in order to run ROS. As we need much computational power for SLAM and especially path planning Robotinos PC104 is overstrained. So we use a laptop or desktop PC communicating to Robotino via wireless.<br />
<br />
Install ROS. How to do this read [http://www.ros.org/wiki/ROS/Installation the ROS installation instructions].<br />
<br />
Install [[API2]] packages on Robotino.<br />
<br />
Get the Robotino ROS drivers:<br />
<br />
<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/ robotino-ros-pkg</code><br />
<br />
'''Hydro (Catkin)'''<br />
<br />
<code>svn co http://svn.openrobotino.org/robotino-ros-pkg/trunk/catkin-pkg/ robotino-ros-pkg</code><br />
NOTE: In the hydro version Kinect support from within robotino_node has be removed. For Kinect usage please use openni packages externally.<br />
<br />
Put the robotino-ros-pkg into the ROS_PACKAGE_PATH. If everything is setup correctly you can run<br />
<br />
<code>For Fuerte: rosmake robotino</code><br />
<br />
<code>For Hydro and later (after creating the appropriate workspace and checking out the code): catkin_make</code><br />
<br />
NOTE: You will need the ROS "navigation" stack in order to build and run the Robotino nodes.<br />
<br />
==Hardware==<br />
What you really need to use ROS in a meaningful way is a [http://www.roboparts.de/robotino/scanner/en laser rangefinder for Robotino].</div>Denzhttps://wiki.openrobotino.org/index.php?title=Debrepository&diff=3660Debrepository2016-06-15T08:11:04Z<p>Denz: </p>
<hr />
<div>===Import key file===<br />
<pre><br />
wget -qO - http://packages.openrobotino.org/keyFile | sudo apt-key add -<br />
</pre><br />
<br />
===Ubuntu 12.04 Precise (images 1.x)===<br />
====Remove old package path====<br />
<pre><br />
sudo sed -i 's/.*doc.openrobotino.org.*//' /etc/apt/sources.list<br />
</pre><br />
====Create conf file====<br />
<pre><br />
sudo su<br />
echo "deb http://packages.openrobotino.org/precise precise main" > /etc/apt/sources.list.d/openrobotino.list<br />
</pre><br />
<br />
===Ubuntu 14.04 Trusty (images 2.x)===<br />
<pre><br />
sudo su<br />
echo "deb http://packages.openrobotino.org/trusty trusty main" > /etc/apt/sources.list.d/openrobotino.list<br />
</pre><br />
<br />
===Ubuntu 16.04 Xenial (images 2.x)===<br />
<pre><br />
sudo su<br />
echo "deb http://packages.openrobotino.org/xenial xenial main" > /etc/apt/sources.list.d/openrobotino.list<br />
</pre></div>Denzhttps://wiki.openrobotino.org/index.php?title=Cpp&diff=3659Cpp2016-06-15T08:07:43Z<p>Denz: </p>
<hr />
<div>==Introduction==<br />
{|cellspacing="20" cellpadding="10"<br />
|- style="vertical-align:top"<br />
|[[Image:Robotino_cpp_icon_64.png]]<br />
|The application programming interface (API) for Robotino(r) from Festo Didactic permits full access to Robotino's sensors and actors. Communication between the control program and Robotino is handled via TCP and UDP and is therefore fully network transparent. It does not matter whether the control program runs direcly on Robotino or on a remote system.<br />
! style="text-align:left; width:20em; background-color:#dddddd"|<br />
=== Package links ===<br />
[http://doc.openrobotino.org/documentation/OpenRobotinoAPI/1/doc/rec_robotino_com/ Code API]<br />
<br />
[http://svn.openrobotino.org/trunk/openrobotino1/lib/rec/robotino/com Source code]<br />
<br />
[[downloads#openrobotino_api|OpenRobotinoAPI binary package]]<br />
|}<br />
<br />
== API Versions ==<br />
The API for Robotino is available in two versions; the older OpenRobotinoAPI and the newer RobotinoAPI2. We strongly recommend you to switch to the new RobotinoAPI2. Below are the instructions for installing both of these APIs.<br />
<br />
===Installation===<br />
* [[API2 | RobotinoAPI2]] (recommended)<br />
* [[OpenRobotinoAPI | OpenRobotinoAPI]] (old)</div>Denz