Is there currently any way for Khepera robots to sense
ambient light in Webots 3?

  --- Olivier Michel <Olivier.Michel@...>
wrote: > Dave,
>
> You are correct:
> 1) encoders have not yet been implemented in Webots
> 3.0.
> 2) the touch sensor was implemented, but since it is
> in beta quality (no extensive
> testings) it was not yet documented.
> 3) same for the Physics node : it is in a very early
> beta stage and was implemented
> for modelling the dynamics of a ball in a soccer
> game (world: alice_soccer.wbt).
> 4) A new version of Webots tagged 3.1 will be out in
> a couple of weeks and will
> include the documentation for the touch sensors, a
> faster collision detection, new
> navigation controls, a library for remote
> controlling a real Khepera robot, and many
> bug fixes (including in touch sensors). It will be
> available for free for Webots 3.0
> licensed users.
>
> Now let me throw a small survey out there. We have
> now many options in the development
> roadmap for Webots 3. Our current priorities
> include:
> 1) still some bug fixes (like making several cameras
> on the same robot work).
> 2) implementation of a Servo node (for simulating
> arms).
> 3) implementation of a Gripper node (for simulating
> a gripper device such as the one
> of the Khepera robot which will be used on the top
> of a Servo node).
> 4) add ability to save movies (mpeg, avi or animated
> VRML).
> 5) implement 1 level of undo in the world editor.
> 6) provide libraries and include for Khepera
> cross-compilation.
> 7) implement a batch mode allowing to run the
> simulation server without displaying the
> window.
> 8) interface to Saphira (for ActivMedia robots).
> 9) provide C++ examples of controllers with
> Makefile.
> 10) add a Maya-like xyz axis in the world, so that
> you always know in which direction
> you are oriented
> 11) make light nodes visible to the user.
> 12) import / export 3D objects.
> 13) fix the HyperGate system (which is currently in
> a beta stage)
> + many minor features improving the everyday ease of
> use of Webots.
>
> Could you let me know if you think other features
> would be really useful ? In other
> words, is there a real need for encoders, light
> sensors or something else out there ?
>
> -Olivier Michel
> Cyberbotics
>
> hitoruna2@... wrote:
>
> > Hi everyone:
> >
> > I downloaded the user guide and reference manual
> of Webots. I read
> > both and after that a friend of mine told me that
> in Webots:
> > 1) Encoders have not been implemented
> > 2) There is a bumper or "touch sensor" node
> already implemented
> > 3) There are examples where the "physics" field of
> some nodes are
> > used.
> >
> > This made me wonder why in the manuals:
> > 1) There is no touch sensor mentioned
> > 2) It says that physics will be used in a future
> version.
> >
> > So can somebody tell me what is the correct
> information for this?
> > (and what about other sensors-light, orientation
> etc)
> >
> > Dave
>
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Hello,

I just found and fixed the problem. Now, I have Webots running a robot with
two cameras onboard and the controller displays them properly. It shouldn't
be a problem running 3 or more cameras on the same robot as well...

I will package this new fixed version (linux only for now) and let you know
when it's available via ftp.

-Olivier

hkunz05@... wrote:

> I'm using Linux (Debian woody).
> many thanks in advance
> Hp.

Dave,

You are correct:
1) encoders have not yet been implemented in Webots 3.0.
2) the touch sensor was implemented, but since it is in beta quality (no
extensive
testings) it was not yet documented.
3) same for the Physics node : it is in a very early beta stage and was
implemented
for modelling the dynamics of a ball in a soccer game (world: alice_soccer.wbt).
4) A new version of Webots tagged 3.1 will be out in a couple of weeks and will
include the documentation for the touch sensors, a faster collision detection,
new
navigation controls, a library for remote controlling a real Khepera robot, and
many
bug fixes (including in touch sensors). It will be available for free for Webots
3.0
licensed users.

Now let me throw a small survey out there. We have now many options in the
development
roadmap for Webots 3. Our current priorities include:
1) still some bug fixes (like making several cameras on the same robot work).
2) implementation of a Servo node (for simulating arms).
3) implementation of a Gripper node (for simulating a gripper device such as the
one
of the Khepera robot which will be used on the top of a Servo node).
4) add ability to save movies (mpeg, avi or animated VRML).
5) implement 1 level of undo in the world editor.
6) provide libraries and include for Khepera cross-compilation.
7) implement a batch mode allowing to run the simulation server without
displaying the
window.
8) interface to Saphira (for ActivMedia robots).
9) provide C++ examples of controllers with Makefile.
10) add a Maya-like xyz axis in the world, so that you always know in which
direction
you are oriented
11) make light nodes visible to the user.
12) import / export 3D objects.
13) fix the HyperGate system (which is currently in a beta stage)
+ many minor features improving the everyday ease of use of Webots.

Could you let me know if you think other features would be really useful ? In
other
words, is there a real need for encoders, light sensors or something else out
there ?

-Olivier Michel
Cyberbotics

hitoruna2@... wrote:

> Hi everyone:
>
> I downloaded the user guide and reference manual of Webots. I read
> both and after that a friend of mine told me that in Webots:
> 1) Encoders have not been implemented
> 2) There is a bumper or "touch sensor" node already implemented
> 3) There are examples where the "physics" field of some nodes are
> used.
>
> This made me wonder why in the manuals:
> 1) There is no touch sensor mentioned
> 2) It says that physics will be used in a future version.
>
> So can somebody tell me what is the correct information for this?
> (and what about other sensors-light, orientation etc)
>
> Dave

Hi everyone:

I downloaded the user guide and reference manual of Webots. I read
both and after that a friend of mine told me that in Webots:
1) Encoders have not been implemented
2) There is a bumper or "touch sensor" node already implemented
3) There are examples where the "physics" field of some nodes are
used.

This made me wonder why in the manuals:
1) There is no touch sensor mentioned
2) It says that physics will be used in a future version.

So can somebody tell me what is the correct information for this?
(and what about other sensors-light, orientation etc)

Dave

--- In webots-users@y..., Olivier Michel <Olivier.Michel@c...> wrote:

I'm using Linux (Debian woody).
many thanks in advance
Hp.



> Unable to decode base64 message: Incorrect padding

-Olivier

Okay, here it is.
We have two cameras on one robot, one of them is always blue, depending on which one is initialized first (I think). It is not a problem of displaying the image on the screen. Also the image data in the memory contains only blue pixels. So maybe it is a rendering problem?

many thanks for any help
Hanspeter

--- camera.c ----------------------------------------------------
#include <stdio.h>
#include <robot.h>
#include <differential_wheels.h>
#include <distance_sensor.h>
#include <camera.h>

#define FORWARD_SPEED 100

int speed=0;

device_tag ir0,ir1,camera,camera1;
GtkWidget *pixmap=NULL;
GtkWidget *pixmap1=NULL;

void differential_wheels(GtkWidget *widget,gpointer data) {
/*  if (pixmap) {
    GdkRectangle area;
    area.x = 0;
    area.y = 0;
    area.width = pixmap->allocation.width;
    area.height = pixmap->allocation.height;
    gtk_widget_draw(pixmap,&area);
  }                 */
  if (speed == 0) speed=FORWARD_SPEED; else speed=0;
}

void differential_wheels1(GtkWidget *widget1,gpointer data1) {
/*  if (pixmap1) {
    GdkRectangle area1;
    area1.x = 0;
    area1.y = 0;
    area1.width = pixmap1->allocation.width;
    area1.height = pixmap1->allocation.height;
    gtk_widget_draw(pixmap1,&area1);
  }            */
  if (speed == 0) speed=FORWARD_SPEED; else speed=0;
}

void reset(void) {
  ir0    = robot_get_device("ir1");
  ir1    = robot_get_device("ir0");
  camera = robot_get_device("camera");
  if (camera==0) g_print("missing camera\n");
  camera1 = robot_get_device("camera1");
  if (camera1==0) g_print("missing camera1\n");
}

int main() {

  guint8 *pixel_cam;
  guint8 *pixel_cam1;

  GtkWidget *window;
  GtkWidget *vbox;
  GtkWidget *button;
  GtkWidget *window1;
  GtkWidget *vbox1;
  GtkWidget *button1;

  gint16 left_speed,right_speed;
  guint16 ir0_value,ir1_value;

  robot_live(reset);
  camera_enable(camera,64);
  /* set up the GTK GUI */
  window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
  gtk_window_set_title(GTK_WINDOW(window),"camera");
  vbox = gtk_vbox_new(FALSE,8);
  gtk_container_set_border_width(GTK_CONTAINER(vbox),8);
  gtk_widget_show(vbox);
  gtk_container_add(GTK_CONTAINER(window),vbox);
  /* setup a gdk_pixmap for the image */
  pixmap = (GtkWidget *)camera_new_widget(camera);
  gtk_widget_show(pixmap);
  button = gtk_button_new_with_label("Go robot!");
  gtk_widget_show(button);
  gtk_signal_connect(GTK_OBJECT(button),"clicked",GTK_SIGNAL_FUNC(differential_wheels),NULL);
  gtk_box_pack_start(GTK_BOX(vbox),pixmap,TRUE,TRUE,0);
  gtk_box_pack_start(GTK_BOX(vbox),button,TRUE,TRUE,0);
  gtk_widget_show(window);
 
 

  /* the same for 2nd cam */

  /* set up the GTK GUI */
  window1 = gtk_window_new(GTK_WINDOW_TOPLEVEL);
  gtk_window_set_title(GTK_WINDOW(window1),"camera1");
  vbox1 = gtk_vbox_new(FALSE,8);
  gtk_container_set_border_width(GTK_CONTAINER(vbox1),8);
  gtk_widget_show(vbox1);
  gtk_container_add(GTK_CONTAINER(window1),vbox1);
  /* setup a gdk_pixmap for the image */
  pixmap1 = (GtkWidget *)camera_new_widget(camera1);
  gtk_widget_show(pixmap1);
  button1 = gtk_button_new_with_label("Go robot!");
  gtk_widget_show(button1);
  gtk_signal_connect(GTK_OBJECT(button1),"clicked",GTK_SIGNAL_FUNC(differential_wheels1),NULL);
  gtk_box_pack_start(GTK_BOX(vbox1),pixmap1,TRUE,TRUE,0);
  gtk_box_pack_start(GTK_BOX(vbox1),button1,TRUE,TRUE,0);
  gtk_widget_show(window1);
 
 
 

  distance_sensor_enable(ir0,64);
  distance_sensor_enable(ir1,64);
  camera_enable(camera,64);
  camera_enable(camera1,64);

  for(;;) {                      /* The robot never dies! */
    (void)camera_get_image(camera);
    (void)camera_get_image(camera1);

    pixel_cam = camera_get_image(camera);
    printf("cam links oben - ");
    printf("R: %d G: %d B: %d\n", (int) pixel_cam[0], (int) pixel_cam[1], (int) pixel_cam[2]);

    pixel_cam1 = camera_get_image(camera1);
    printf("cam1 links oben - ");
    printf("R: %d G: %d B: %d\n", (int) pixel_cam1[0], (int) pixel_cam1[1], (int) pixel_cam1[2]);
 
 

    ir0_value = distance_sensor_get_value(ir0);
    ir1_value = distance_sensor_get_value(ir1);
    if (ir1_value>200) {
      left_speed  = -20;
      right_speed =  20;
    }
    else if (ir0_value>200) {
      left_speed  =  20;
      right_speed = -20;
    }
    else {
      left_speed =speed;
      right_speed=speed;
    }
    differential_wheels_set_speed(left_speed,right_speed); /* Set the motor speeds */
    robot_step(64);                             /* run one step */
  }
  return 0;
}

--- In webots-users@y..., Olivier Michel <Olivier.Michel@c...> wrote:
>

>

> > is it possible to have two (or more) cameras on one robot in webots 3.0. If
yes, is there some example code?

>

> In theory yes, it was designed with that purpose in mind. In practice, I have
never tryed. Anyone else out

> there tryed it ?

> In any case, if you you try it and find out it doesn't work properly, it will
be my pleasure to try to fix it

> from your example.


Okay, here it is.
We have two cameras on one robot, one of them is always blue, depending on which
one is initialized first (I think). It is not a problem of displaying the image
on the screen. Also the image data in the memory contains only blue pixels. So
maybe it is a rendering problem?

many thanks for any help
Hanspeter

--- camera.c ----------------------------------------------------
#include <stdio.h>
#include <robot.h>
#include <differential_wheels.h>
#include <distance_sensor.h>
#include <camera.h>

#define FORWARD_SPEED 100

int speed=0;

device_tag ir0,ir1,camera,camera1;
GtkWidget *pixmap=NULL;
GtkWidget *pixmap1=NULL;

void differential_wheels(GtkWidget *widget,gpointer data) {
/*  if (pixmap) {
     GdkRectangle area;
     area.x = 0;
     area.y = 0;
     area.width = pixmap->allocation.width;
     area.height = pixmap->allocation.height;
     gtk_widget_draw(pixmap,&area);
   }                 */
   if (speed == 0) speed=FORWARD_SPEED; else speed=0;
}

void differential_wheels1(GtkWidget *widget1,gpointer data1) {
/*  if (pixmap1) {
     GdkRectangle area1;
     area1.x = 0;
     area1.y = 0;
     area1.width = pixmap1->allocation.width;
     area1.height = pixmap1->allocation.height;
     gtk_widget_draw(pixmap1,&area1);
   }            */
   if (speed == 0) speed=FORWARD_SPEED; else speed=0;
}

void reset(void) {
   ir0    = robot_get_device("ir1");
   ir1    = robot_get_device("ir0");
   camera = robot_get_device("camera");
   if (camera==0) g_print("missing camera\n");
   camera1 = robot_get_device("camera1");
   if (camera1==0) g_print("missing camera1\n");
}

int main() {

   guint8 *pixel_cam;
   guint8 *pixel_cam1;

   GtkWidget *window;
   GtkWidget *vbox;
   GtkWidget *button;
   GtkWidget *window1;
   GtkWidget *vbox1;
   GtkWidget *button1;

   gint16 left_speed,right_speed;
   guint16 ir0_value,ir1_value;

   robot_live(reset);
   camera_enable(camera,64);
   /* set up the GTK GUI */
   window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
   gtk_window_set_title(GTK_WINDOW(window),"camera");
   vbox = gtk_vbox_new(FALSE,8);
   gtk_container_set_border_width(GTK_CONTAINER(vbox),8);
   gtk_widget_show(vbox);
   gtk_container_add(GTK_CONTAINER(window),vbox);
   /* setup a gdk_pixmap for the image */
   pixmap = (GtkWidget *)camera_new_widget(camera);
   gtk_widget_show(pixmap);
   button = gtk_button_new_with_label("Go robot!");
   gtk_widget_show(button);
  
gtk_signal_connect(GTK_OBJECT(button),"clicked",GTK_SIGNAL_FUNC(differential_whe\
els),NULL);
   gtk_box_pack_start(GTK_BOX(vbox),pixmap,TRUE,TRUE,0);
   gtk_box_pack_start(GTK_BOX(vbox),button,TRUE,TRUE,0);
   gtk_widget_show(window);



   /* the same for 2nd cam */

   /* set up the GTK GUI */
   window1 = gtk_window_new(GTK_WINDOW_TOPLEVEL);
   gtk_window_set_title(GTK_WINDOW(window1),"camera1");
   vbox1 = gtk_vbox_new(FALSE,8);
   gtk_container_set_border_width(GTK_CONTAINER(vbox1),8);
   gtk_widget_show(vbox1);
   gtk_container_add(GTK_CONTAINER(window1),vbox1);
   /* setup a gdk_pixmap for the image */
   pixmap1 = (GtkWidget *)camera_new_widget(camera1);
   gtk_widget_show(pixmap1);
   button1 = gtk_button_new_with_label("Go robot!");
   gtk_widget_show(button1);
  
gtk_signal_connect(GTK_OBJECT(button1),"clicked",GTK_SIGNAL_FUNC(differential_wh\
eels1),NULL);
   gtk_box_pack_start(GTK_BOX(vbox1),pixmap1,TRUE,TRUE,0);
   gtk_box_pack_start(GTK_BOX(vbox1),button1,TRUE,TRUE,0);
   gtk_widget_show(window1);




   distance_sensor_enable(ir0,64);
   distance_sensor_enable(ir1,64);
   camera_enable(camera,64);
   camera_enable(camera1,64);

   for(;;) {                      /* The robot never dies! */
     (void)camera_get_image(camera);
     (void)camera_get_image(camera1);

     pixel_cam = camera_get_image(camera);
     printf("cam links oben - ");
     printf("R: %d G: %d B: %d\n", (int) pixel_cam[0], (int) pixel_cam[1], (int)
pixel_cam[2]);

     pixel_cam1 = camera_get_image(camera1);
     printf("cam1 links oben - ");
     printf("R: %d G: %d B: %d\n", (int) pixel_cam1[0], (int) pixel_cam1[1],
(int) pixel_cam1[2]);



     ir0_value = distance_sensor_get_value(ir0);
     ir1_value = distance_sensor_get_value(ir1);
     if (ir1_value>200) {
       left_speed  = -20;
       right_speed =  20;
     }
     else if (ir0_value>200) {
       left_speed  =  20;
       right_speed = -20;
     }
     else {
       left_speed =speed;
       right_speed=speed;
     }
     differential_wheels_set_speed(left_speed,right_speed); /* Set the motor
speeds */
     robot_step(64);                             /* run one step */
   }
   return 0;
}

> is it possible to have two (or more) cameras on one robot in webots 3.0. If
yes, is there some example code?

In theory yes, it was designed with that purpose in mind. In practice, I have
never tryed. Anyone else out
there tryed it ?
In any case, if you you try it and find out it doesn't work properly, it will be
my pleasure to try to fix it
from your example.

-Olivier

> thanks for your help,
> Hanspeter Kunz

hi,

is it possible to have two (or more) cameras on one robot in webots 3.0. If yes,
is there some example code?

thanks for your help,
Hanspeter Kunz

Dear Daniel,

I guess you refer to the version webots2RH71.tar.gz which is available on
our ftp site. I though the problem you describes was fixed in this version.
I checked this again, and it turns out this version may not be the newest.
So, I uploaded the newest version I have onto the ftp site. You will be able
to get it from:

ftp://ftp.cyberbotics.com/webots-2.0.5-1.i386.rpm

This is a RPM package for Redhat 7.1.

Please, let me know if this version fixes your problem.

Regards,

-Olivier Michel
Cyberbotics

Daniel Bisig wrote:

> Hi there,
>
> we are currently facing a problem when trying to use Webots
> (Webots2RH71) to control a real Khepera (Bios 3.01). The values we read
> from the infrared sensors (khepera_get_proximity(i)) seem to be random
> (between 0 and 10). On the other hand the values that are displayed in
> the Khepera Properties window are correct. Therefore running the Webots
> in simulation mode works fine, but controlling the real robot fails. Is
> there a newer Webots 2 version for Linux which doesn't have this problem?
>
> Thanks & regards
>
>         Daniel

hi,
  you need to set the link settings in the project, the lib path
...\webots\lib, and add the library libkhepera.lib in the input category,
then you can compile and link your controller to exe.
----- Original Message -----
From: "Nemeti David" <nemetid@...>
To: <webots-users@yahoogroups.com>
Sent: Friday, September 28, 2001 3:49 PM
Subject: [webots-users] Webots controller linking on Windows platform


> Hi!
>
> Does anybody know how could I make a simple controller? Unfortunately I
> can't make the EXE file.
>
> I am using Webots 3.0.1 evaluation version under Windows 2000
Professional.
> I was trying with the following C++ compilers: Microsoft Visual C++ 6.0,
> Borland C++ Builder 5.0, Dev-C++ 4.0.
>
> The problem is the following: the compilation succeeds, but I have got
> errors during the linking: "unresolved external symbol". This error
message
> occurs in each line in the source where there is a reference to a function
> in those DLLs. (I was trying with the simpliest example controller called:
> simple.cpp) I have got the DLL files I need, but I do not have any LIB
files
> (called import libraries in this context), so the implicit linking was
> failed. So I tried the explicit linking: I set the linker's parameter
> "/delayload:Controller.dll" (it was tried with Visual C++), but it did not
> help. I got a warning message: "/DELAYLOAD:Controller.dll ignored; no
> imports found from Controller.dll" and the previous error messages:
> "unresolved external symbol" too. I tried to link Delayimp.lib (Visual
> specific library for delay load) to the program, but nothing has changed,
I
> got the warning and the error messages again.
>
> Then I have downloaded the free Dev-C++ 4 from the Internet, and tried to
> make the program with the simple.dev file which was in the directory
> controller\simple, but it did not succeed. Unfortunately I got error
> messages during linking: "undefined reference to ...".
>
> So, the compilation is successful with all of the compilers, I have got
the
> proper include files, so finally I get an OBJ file. But the linking fails
at
> all times.
>
> I hope you could help me, it would be very important for me to make these
> things work.
>
>
> Thanks,
> David Nemeti
>
>
>
>
> To unsubscribe from this group, send an email to:
> webots-users-unsubscribe@yahoogroups.com
>
>
>
> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>

Hi!

Does anybody know how could I make a simple controller? Unfortunately I
can't make the EXE file.

I am using Webots 3.0.1 evaluation version under Windows 2000 Professional.
I was trying with the following C++ compilers: Microsoft Visual C++ 6.0,
Borland C++ Builder 5.0, Dev-C++ 4.0.

The problem is the following: the compilation succeeds, but I have got
errors during the linking: "unresolved external symbol". This error message
occurs in each line in the source where there is a reference to a function
in those DLLs. (I was trying with the simpliest example controller called:
simple.cpp) I have got the DLL files I need, but I do not have any LIB files
(called import libraries in this context), so the implicit linking was
failed. So I tried the explicit linking: I set the linker's parameter
"/delayload:Controller.dll" (it was tried with Visual C++), but it did not
help. I got a warning message: "/DELAYLOAD:Controller.dll ignored; no
imports found from Controller.dll" and the previous error messages:
"unresolved external symbol" too. I tried to link Delayimp.lib (Visual
specific library for delay load) to the program, but nothing has changed, I
got the warning and the error messages again.

Then I have downloaded the free Dev-C++ 4 from the Internet, and tried to
make the program with the simple.dev file which was in the directory
controller\simple, but it did not succeed. Unfortunately I got error
messages during linking: "undefined reference to ...".

So, the compilation is successful with all of the compilers, I have got the
proper include files, so finally I get an OBJ file. But the linking fails at
all times.

I hope you could help me, it would be very important for me to make these
things work.


Thanks,
David Nemeti

Daniela Trevisan wrote:

>  I would like to know how can I get the robot's name when another
> robot have collided with him?thanks,daniela trevisan

This is a pretty tricky thing to implement with real robots. In Webots,
it's much more easy to implement. Here is how you shall proceed:

Write a Supervisor controller that will read permanently the x,z
coordinates of all the robots and compute the distances between all
pairs of robots. If this distance falls below a threshold (which should
a bit bigger than the diameter of a robot), then you can consider that
those two robots have collided. From there, you know, by their names,
which robots have collided. You can forward this information to the
robots themself, through a supervisor - robot communication scheme (as
examplified in some Webots controller examples). Hence a robot will be
aware of the name of the robot who collided with him.

Please let me know if this is unclear to you.

-Olivier

Vacation! I am not at the office for some days.

Get my nude photos at http://kiss.bloodway.com
Best comics of mine at http://comics.bloodway.com
Chat with sexy girls at http://rose.bloodway.net/flower

Adult links
http://anna.micronoo.com
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--------------------


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Alan Belcher

tdahl@... wrote:

> Has anyone implemented ecal style feeders for webots-3.0?
> Has anyone got a better webots-3.0 implementation of a khepera with a
> k6300 camera than the one in the camera.wbt file?
>
> Is one provided that I have missed?
> Torbjorn

Not to my knownledge. However, I offer to help you (or anyone) to implement
this.
Let me know if you have any question about it.

-Olivier

Has anyone implemented ecal style feeders for webots-3.0?

Torbjorn

Has anyone got a better webots-3.0 implementation of a khepera with a
k6300 camera than the one in the camera.wbt file?

Is one provided that I have missed?

Torbjorn Dahl
University of Bristol

Lim Boon Chun wrote:

> hi,
> got a major problem with webots delete_node. it seems that
> i cant delete the can from the world. and it hangs every
> time at the point of delete_node(can[i])...
>
> can someone check for me if my codes are correct or where
> is it wrong and where should i correct it..
>
> thank you very much and have a nice day.
>
> sincerely,
> BC
>
> /******** codes *************************/
> for(i=0;i<CANS;i++)  //initialise can
> {
>     sprintf(text,"can%d",i);
>     can[i]=eai_get_node(text);
> }
>
> eai_delete_node(can[i]);   //webots hangs here...
> eai_write_stream(robot1, "0", 2);
>
> //swop robot0 and robot1 position
> eai_get_position(robot1,&rx,&rz);
> alpha= eai_get_orientation(robot1);
> eai_set_position(robot1, 0.5,0.5);
> eai_set_controller(robot1, "void");
>
> eai_set_position(robot0, rx,rz);
> eai_set_orientation(robot0, alpha);
> eai_set_controller(robot0, "ecal0");
> /*************************************/

Hello,

I think your code is correct, however, it might be a bug in Webots. I
remember having faced such a problem with another user a while ago. The
workaround for this was to move the object instead of deleting it. So,
instead of deleting the can, just move it to an unused place in the world
and it will avoid crashing Webots.

I hope this helps!

-Olivier

hi,
got a major problem with webots delete_node. it seems that
i cant delete the can from the world. and it hangs every
time at the point of delete_node(can[i])...

can someone check for me if my codes are correct or where
is it wrong and where should i correct it..

thank you very much and have a nice day.

sincerely,
BC

/******** codes *************************/
for(i=0;i<CANS;i++)  //initialise can
{
     sprintf(text,"can%d",i);
     can[i]=eai_get_node(text);
}

eai_delete_node(can[i]);   //webots hangs here...
eai_write_stream(robot1, "0", 2);

//swop robot0 and robot1 position
eai_get_position(robot1,&rx,&rz);
alpha= eai_get_orientation(robot1);
eai_set_position(robot1, 0.5,0.5);
eai_set_controller(robot1, "void");

eai_set_position(robot0, rx,rz);
eai_set_orientation(robot0, alpha);
eai_set_controller(robot0, "ecal0");
/*************************************/

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Hi,

There was indeed a bug in Webots 3.0beta3 for communication using receivers and
emitters.
This bug is now fixed in Webots 3.0beta4. This new version is available for
Windows only yet from
ftp://ftp.cyberbotics.com/webots3.0b4_setup.exe

I added an example named gps.wbt in the worlds directory. It uses
controllers/gps
and controllers/gps_supervisor. This example shows how to make a GPS (Global
Positioning System) for a robot by using a supervisor (playing the role of the
sattelites, althought the principle of real GPS is pretty different). The
supervisor tracks the position of the robot and send it its coordinates through
an Emitter. The robot has a Receiver on the same channel as the supervisor
Emitter and display its global coordinates in a console window.

I hope this helps.

Let me know if you also need a Linux version of this fix.

-Olivier

Lim Boon Chun wrote:

> is there a newer version of webots to webots 2.0?

Yes, Webots 3.0 beta 3, freely available from ftp://ftp.cyberbotics.com for
beta test.

> if there is, can the newer version support gripper module
> and K6300 on a single khepera?

The gripper is not yet implemented in version 3.0.

-Olivier

is there a newer version of webots to webots 2.0?

if there is, can the newer version support gripper module
and K6300 on a single khepera?

thank you.

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ride_9fe@... wrote:

> Thank you for the infomation.
> however, if i would like to get the resistivity of a targeted-
> coloured can that i have gripped. can i use the supervisor in
> assistance?

Yes, but the supervisor must be aware of the resistivity of each object in
the scene and send that information to the robots that grips objects through
the serial communication API.

-Olivier

Thank you for the infomation.
however, if i would like to get the resistivity of a targeted-
coloured can that i have gripped. can i use the supervisor in
assistance?



--- In webots-users@y..., Olivier Michel <Olivier.Michel@c...> wrote:
> ride_9fe@y... wrote:
>
> > Hi,
> >
> > the K6300 module cannot be added on top of the Gripper module
> > currently. Is there any way the 2 modules be added on a khepera at
> > the same time? How can i make the Gripper grip a lamp object?
> > thanks.
>
> A common solution to both problem is to make a virtual Gripper. You
just
> need to plug in a camera module (like K6300) and that's all. A
virtual
> Gripper is some code in the supervisor program. It consist of
tracking the
> robot position and orientation and objects position (in this case
Lamp
> objects) using the supervisor eai functions. If the supervisor
detects that
> a robot is in front of an object and that the robot sends the
message "GRIP"
> to the supervisor, then the supervisor may simulate the fact that
the object
> is gripped by the robot, simply, my moving the object in front of
the robot
> as long as the robot moves with the eai functions. This requires
tracking
> permanently the position and orientation of the robot and move the
object
> accordingly. When the robot send the "UNGRIP" message, the
supervisor
> unbinds the object from the robot.
>
> I hope this helps.
>
> -Olivier

ride_9fe@... wrote:

> Hi,
>
> the K6300 module cannot be added on top of the Gripper module
> currently. Is there any way the 2 modules be added on a khepera at
> the same time? How can i make the Gripper grip a lamp object?
> thanks.

A common solution to both problem is to make a virtual Gripper. You just
need to plug in a camera module (like K6300) and that's all. A virtual
Gripper is some code in the supervisor program. It consist of tracking the
robot position and orientation and objects position (in this case Lamp
objects) using the supervisor eai functions. If the supervisor detects that
a robot is in front of an object and that the robot sends the message "GRIP"
to the supervisor, then the supervisor may simulate the fact that the object
is gripped by the robot, simply, my moving the object in front of the robot
as long as the robot moves with the eai functions. This requires tracking
permanently the position and orientation of the robot and move the object
accordingly. When the robot send the "UNGRIP" message, the supervisor
unbinds the object from the robot.

I hope this helps.

-Olivier

Hi,

the K6300 module cannot be added on top of the Gripper module
currently. Is there any way the 2 modules be added on a khepera at
the same time?

How can i make the Gripper grip a lamp object?

thanks.

regards,
BC

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