Nao Neeg Hlau Luam Luam Tawm Los Ntawm Xbox Kinect Lub Koob Yees Duab: 4 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27

Raws li txoj haujlwm hauv peb chav Computer Science hauv tsev kawm theem siab (Porter Gaud), kuv tus kheej (Legare Walpole) thiab lwm tus tub ntxhais kawm (Martin Lautenschlager) tau teeb tsa kom tau Nao humanoid neeg hlau kom ua raws peb lub zog los ntawm lub koob yees duab Xbox. Rau lub hlis tsis muaj kev vam meej tau ua tiav, kom txog thaum peb pom VincentVanbecelaere, ib tus tswv cuab tsis tuaj yeem koom nrog. Raws li peb tau sim ua raws nws cov lus qhia ib qib zuj zus, muaj ob peb kauj ruam tseem ceeb tso tseg thiab xav tau kev tshawb fawb ntxiv kom mus tom ntej. Lub Hom Phiaj Tsis Txaus Siab no yog, vam tias, ua tiav nws cov lus qhia thiab hais txog qhov tsawg uas yuav tsum tau ua los ua txoj haujlwm no. Los ntawm qhov kawg ntawm daim ntawv no koj yuav tsum muaj peev xwm rov ua txoj haujlwm no kom raug.

Kauj ruam 1: Yam yuavtsum tau kawm uantej

Koj yuav xav tau ob peb cov ntaub ntawv ua ntej koj pib. Cov ntawv teev npe hauv qab no yog qhov ua haujlwm rau peb. Peb tsis tuaj yeem lav kev koom tes nrog lwm cov qauv ntawm ib qho software lossis kho vajtse uas tsis tau teev tseg.

1. Nao Humanoid Neeg Hlau V5

2. Lub khoos phis tawj Windows nrog Microsoft Visual Studios Community 2015 nrog XNA version 4.0 teeb tsa

Rub tawm nplooj ntawv (Visual Studio):

Download Nplooj (XNA):

3. Lub khoos phis tawj Linux nrog Ubuntu 14.04 LTS 64-ntsis kev ua haujlwm. (Ua haujlwm nrog 32 ntsis)

4. Python Version 2.7 (tsis yog Python 3. Tseem ceeb) ntawm Linux computer

5. Tus MQTT broker ntawm Linux computer

*Yuav rub tawm hauv cov theem tom ntej

6. SSH tsis thaiv ntawm txhua lub cuab yeej thiab network.

Kauj Ruam 2: Rub tawm MQTT Broker thiab Txheeb Xyuas Kev Sib Txuas

Thawj kauj ruam hauv kev txuas txhua yam ua ke yog txhim kho MQTT broker.

Txhawm rau nruab MQTT Broker, ntaus cov lus txib no rau hauv Ubuntu davhlau ya nyob twg:

$ sudo apt-add-repository ppa: mosquitto-dev/mosquitto-ppa

$ sudo apt-tau hloov tshiab

$ sudo apt-tau nruab libmosquitto-dev

$ sudo apt-tau nruab mosquitto-cov neeg siv khoom

Cov lus txib no yuav tsum ua kom tiav MQTT. Txhawm rau sim nws cov hom kev teeb tsa hauv cov lus txib no:

$ mos txwv

Lub davhlau ya nyob twg yuav tsum zoo li daim duab saum toj no yog nws ua haujlwm. Yog tias tsis yog, muaj ntau cov lus qhia sib txawv ntawm yuav ua li cas rau nruab nws.

Kauj Ruam 3: Kho Python 2.7

Koj yuav tsum xub teeb tsa nab nab 2.7.x ntawm koj lub computer linux. (Peb tab tom siv nab hab sej 2.7.6)

Nov yog qhov txuas mus rau nplooj ntawv rub tawm:

Thaum koj tau teeb tsa nab nab koj yuav tsum rub tawm thiab teeb tsa NAOqi muab los ntawm Aldebaran. Koj yuav tsum tsim tus as khauj txhawm rau nkag mus rub tawm. Tsis txhob txhawj. Nws yog dawb thiab siv sijhawm me ntsis.

Txuas:

Rub tawm linux x64 version. Nws nyob hauv qab Header "3 - Python NAOqi SDK"

Thaum koj tau rub tawm cov ntawv, unzip nws thiab muab tso rau txhua qhov chaw. Nws tsis muaj teeb meem tab sis xyuas kom tseeb tias koj paub tias nws nyob qhov twg.

Tom qab ntawv

$ export PYTHONPATH = $ PYTHONPATH:/home/yourUserName/locationOfNaoLibrary

Thaum koj tau teeb tsa txoj hauv kev nab nab, ntaus hauv cov lus txib no los kho koj cov ntaub ntawv.bashrc

$ editor ~/.bashrc

Thaum koj tab tom kho cov ntaub ntawv ntawd, ntaus qhov no hauv qab ntawm cov ntawv:

export PYTHONPATH = $ PYTHONPATH:/home/yourUserName/locationOfNaoLibrary

Ntsuam xyuas seb qhov no ua haujlwm los ntawm kev ntaus "nab nab" mus rau hauv lub davhlau ya nyob twg linux thiab tom qab ntawv ntaus "ntshuam naoqi".

Qhov no yuav tsum ua haujlwm tam sim no.

Kauj ruam 4: Rub tawm Code thiab Muaj Kev Lom Zem

Rub tawm Visual Studios (kinect.zip) cov ntaub ntawv rau lub khoos phis tawj Windows thiab Python file (robot.py) rau lub khoos phis tawj linux. Qhib ob qho no ntawm lawv lub khoos phis tawj tshwj xeeb.

Muab cov khoos phis tawj no tso rau tib lub network wifi thiab muab tso rau hauv lub computer linux tus IP, uas koj tuaj yeem pom los ntawm kev ntaus hauv:

$ ifconfig

Tus IP tom qab "inet addr:" (hauv qab wlan rau wireless, nyob rau hauv eth0 rau wired) yuav yog tus IP raug rau ntaus rau hauv Visual Studios program thaum pib.

Pib pib MQTT broker ntawm linux los ntawm kev ntaus hauv

$ mos txwv

Tom qab ntawd pib tus nab npawb sej ntawm linux los ntawm kev ntaus hauv

$ cd qhov chaw ntawm robot.py

$ python./robot.py

Qhov no yuav pib tus nab npawb nab npawb. Txoj cai yuav xav tau cov ntaub ntawv uas koj tuaj yeem muab tau yooj yim, xws li tus IP neeg hlau, chaw nres nkoj (tus qauv 9559), MQTT ip (uas hauv qhov no yuav yog localhost), thiab MQTT cov ncauj lus (uas peb teeb tsa ua "nao").

Qhov no yuav tsum txuas rau tus neeg hlau, MQTT tus tswv lag luam, thiab Visual Studio tso cai rau koj los tswj cov neeg hlau, txhua yam koj yuav tsum ua tam sim no, yog sawv ntawm lub hauv ntej ntawm Kinetic lub koob yees duab thiab txav mus!

Peb vam tias phau ntawv qhia no tau ua cov txheej txheem meej thiab yooj yim dua. Ib zaug ntxiv tus thawj tsim ntawm txoj haujlwm no yog Vincent Vanbecelaere. Cov cai peb siv yog los ntawm nws, thiab nws yog lub laj thawj tseem ceeb uas txoj haujlwm no tsis poob hauv thawj peb lub hlis. Peb vam tias koj pom cov ntawv qhia no thiab, thaum kawg, muaj kev lom zem cuam tshuam nrog lub tswv yim no.

Thaum kawg peb xav ua tshwj xeeb ua tsaug Vincent Vanbecelaere. Yog tsis muaj nws txoj haujlwm, peb yuav tsis muaj peev xwm ua tiav txoj haujlwm no. Nws tsim nyog feem ntau txhua qhov txiaj ntsig kom tau txais txoj haujlwm no ntawm nws txhais taw. Dab tsi hauv qab no yog qhov txuas rau nws nplooj ntawv qhov project yog tias koj xav siv nws rau ib qho laj thawj.

www.instructables.com/id/Nao-Robot-Mimicki…