CloPeMa Robot Head Stack

Maintainer: Gerardo Aragon-Camarasa

1. Tutorials

Here is detailed the instructions for the software installation and operation of the CloPeMa robot head.

  1. Installation of the Robot Head Stack Instructions
  2. Installation of the Robot Head - NEW
  3. Robot Head Software Operation (Vergence, Feature Extraction, Camera and PTU control)
  4. Camera and Hand-Eye Calibration using OpenCV
  5. Point cloud and 3D reconstruction
  6. C3D camera calibration (OBSOLETE)

2. Nodes

2.1 HYDRO RELEASE

(UPDATED: 8th November, 2013)

  1. rh_calibration (hydro)
  2. rh_cameras (hydro)
  3. rh_feature_extraction (hydro)
  4. rh_launch (hydro)
  5. rh_ptu (hydro)
  6. rh_stereo_proc (hydro)
  7. rh_vergence (hydro)
  8. rh_robot_interface (hydro)

2.2 FUERTE RELEASE

(UPDATED: 11th September, 2013)

  1. RH_C3D
  2. RH_calibration
  3. RH_cameras
  4. RH_launch
  5. RH_mainUI
  6. RH_ptu
  7. RH_siftgpu
  8. RH_stereoAddOns
  9. RH_vergence
  10. RH_robotInterface

4. Notes

  1. Java 7 is required to run C3D: http://www.webupd8.org/2012/01/install-oracle-java-jdk-7-in-ubuntu-via.html
  2. If you are using a remote computer for SIFTGPU, please follow this instructions http://renderingpipeline.com/2012/05/remote-opengl/
  3. Notes for integration of RobotHead in CTU (2nd August, 2013)

Gerardo's robot head notes

Karel's notes after final review

5. Integration of robot head with robot

  1. Robot head to robot transformation - experiment with Panda Target
  2. ROS node for transformation between robot head and robot