==Acessando o ambiente==

Acesse o site [http://vrcportal.osrfoundation.org http://vrcportal.osrfoundation.org].

Clique em '''Sign In'''.

Entre com o usuário ''robotics.team.br@gmail.com''.

Clique em '''VRC 2013 Practice''' para a prática ou '''VRC 2013 Final''' para a competição.

Vai aparecer uma janela que tem o link do CloudSim. Clique nele.

Clique em login.

Faça o login com o usuário ''robotics.team.br@gmail.com''.

Clique em console.

Baixe todas as chaves das máquinas.

==Habilitando a VPN==

Para utilizar a VPN, baixe o openvpn:
$ sudo apt-get install openvpn

Com a chave na pasta Downloads, execute:
mkdir vrc_credentials
cd vrc_credentials
unzip ~/Downloads/router.zip
cd router_OSRF_VRC_Constellation_01
sudo ./start_vpn.bash

Você deverá ver algo como:
Killing other openvpn connections...
tun0 Link encap:UNSPEC HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
POINTOPOINT NOARP MULTICAST MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:100
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)

Adding route to 10.0.0.0/24 network
VPN ready. To kill it: Step 5: Start a task

Press the start button of the task you want to launch. The task status icon should start flashing yellow, until the simulator is started on the Cloud. Once the simulator is running (as indicated by the blue status on the simulator machine), the task status icon will flash blue, until the task is stopped.
sudo killall openvpn

Para verificar se você tem conexão com as máquinas
# ping the router
ping 10.0.0.50

# ping the simulator
ping 10.0.0.51

# ping field computer 1
ping 10.0.0.52

# ping field computer 2
ping 10.0.0.53

'''Note''': Antes de rodar qualquer código no OCU, você vai precisar de fazer o seguinte:
. /usr/share/drcsim/setup.sh
cd router_OSRF_VRC_Constellation_01
. ros.bash
# Now my ROS environment is configured, so things like `rostopic` will work, once a simulation task is running.

Faça isso em todo shell que você for usar.

==Conectando nas máquinas fields== Step 5: Start a task

Press the start button of the task you want to launch. The task status icon should start flashing yellow, until the simulator is started on the Cloud. Once the simulator is running (as indicated by the blue status on the simulator machine), the task status icon will flash blue, until the task is stopped.

Baixe as chaves para as máquinas Field Computer 1 e Field Computer 2. Descompacte cada chave da máquina e execute o script ssh para logar na máquina.
Por exemplo, para rodar na Field Computer 1:
cd ~/vrc_credentials
unzip ~/Downloads/fc1_OSRF_VRC_Constellation_01.zip
cd fc1_OSRF_VRC_Constellation_01
./ssh-fc1.bash

Você irá logar na máquina Field Computer usando o usuário ubuntu. Lembre-se de usar o sudo para executar um comando como superusuário.

'''Execute os comandos sempre que fizer ssh para uma máquina:'''
cd fc1_OSRF_VRC_Constellation_01
./ssh-fc1.bash
. cloudsim/ros.bash
# Now my ROS environment is configured, so things like `rostopic` and `rviz` will work, once a simulation task is running.

==Instalando o CARMEN==
Para instalar o CARMEN use o tutorial [[Carmen VRC]]

==Instalando o ROS==
Para instalar o ros siga os tutorials:

* [[Instalação DRC]]
* [[Rodando o DRC]]
* [[readme alberto.txt]]

==Criando uma task==
You will be logged into your CloudSim as an ''officer'', which allows you to create simulation tasks.

Click on the ''Create task'' button of the ''Simulation tasks'' Step 5: Start a task

Press the start button of the task you want to launch. The task status icon should start flashing yellow, until the simulator is started on the Cloud. Once the simulator is running (as indicated by the blue status on the simulator machine), the task status icon will flash blue, until the task is stopped. block. Fill in the dialog window:

* '''Task title''': The title of your task.
* '''ROS package''': In which ROS package the desired launch file is found. Use `atlas_utils` to practice with the provided Qualification and/or Practice arenas (e.g., `qual_task_1.launch`, `vrc_task_1.launch`).
* '''Launch file''': Which launch file to use; usually `vrc_task_1.launch`, `qual_task_1.launch`, or similar.
* '''Maximum time (sec)''': This value sets the maximum number of simulation time seconds allowed for your task. When the maximum time is reached, your task will be automatically stopped.
* '''Arguments''': Not used.
* '''Minimum latency''': Set the latency between the OCU and the Field Computer and Simulator machines.
* '''Uplink data cap''': Maximum number of uplink bits allotted for the task.
* '''Downlink data cap''': Maximum number of downlink bits allotted for the task.
* '''Valid from''': Do not modify this value during Practice.
* '''Valid until''': Do not modify this value during Practice.
* '''Run''': Valid values are 1, 2, 3, 4, or 5.
* '''Task''': Valid values are 1, 2, 3.

''Note 1'': Your Run/Task combination will be used to display your practice data in the appropriate tab on your Portal, and will determine the name of the resulting log files. If you run two tasks with the same Run/Task combination, the second one will overwrite log files from the first one.

''Note 2'': Your uplink/downlink network connections will be disabled if you reach your cap limits. The network connectivity will be restored for every task. The byte usage counter is activated when your robot crosses the first gate.

Press the ''Create'' button and your new task will appear in the ''Simulation Tasks'' block.

==Iniciando uma task==
Press the start button of the task you want to launch. The task status icon should start flashing yellow, until the simulator is started on the Cloud. Once the simulator is running (as indicated by the blue status on the simulator machine), the task status icon will flash blue, until the task is stopped.

The scoring information will be displayed in the Simulation Tasks block during task execution.

==Executando uma task==
Now that your task is running, you're ready to actually achieve it. Start your software on the Field Computers and/or your OCU and get to it.

'''Com a vpn ligada faça ssh para a máquina que você deseja usar e execute os comandos'''
'''Lembre após executar o ssh de executar os comandos:'''
cd fc1_OSRF_VRC_Constellation_01
./ssh-fc1.bash
. cloudsim/ros.bash
# Now my ROS environment is configured, so things like `rostopic` and `rviz` will work, once a simulation task is running.

==Parando uma task==
To stop the currently-running task, press the Stop current task button (above the tasks). The task status indicator will start flashing red and turn to solid red once the simulator has shut down. During this phase, your log files will be uploaded into your Portal. This operation may take some minutes if your log file is large.

==Fazendo download dos arquivos de log==
The ''VRC 2013 Practice'' tab of your VRC Portal team page will show score information for your finished tasks. In addition, you will be able to download a single zip file with the simulation and network usage logs.

Utilizando o ambiente do VRC - CloudSim

2013-06-04T19:48:55Z

Tiago Alves de Oliveira: /* Criando uma task */

Utilizando o ambiente do VRC - CloudSim

2013-06-04T19:48:04Z

Tiago Alves de Oliveira: /* Criando uma task */

Utilizando o ambiente do VRC - CloudSim

2013-06-04T19:47:50Z

Tiago Alves de Oliveira: /* Criando uma task */

Utilizando o ambiente do VRC - CloudSim

2013-06-04T19:47:38Z

Tiago Alves de Oliveira: /* Criando uma task */

Utilizando o ambiente do VRC - CloudSim

2013-06-04T19:45:55Z

Tiago Alves de Oliveira: /* Criando uma task */

Utilizando o ambiente do VRC - CloudSim

2013-06-04T19:45:28Z

Tiago Alves de Oliveira:

DARPA - Virtual Robotics Challenge (VRC)

2013-06-04T19:41:54Z

Tiago Alves de Oliveira:

Links para os arquivos submetidos para a qualificação na VRC.

[http://www.lcad.inf.ufes.br/~alberto/vrc_qual_1.zip log qualify task1]

[http://www.lcad.inf.ufes.br/~alberto/vrc_qual_2.zip log qualify task2]

[http://www.lcad.inf.ufes.br/~alberto/vrc_video_q1.zip log video qualify task1]

[http://www.lcad.inf.ufes.br/~alberto/vrc_video_q2.zip log video qualify task2]

Para a instalação do DRC siga os seguintes passos [[Instalação DRC]].

Para rodar o DRC [[Rodando o DRC]].

Execute os passos em [[Readme alberto.txt]]

Para rodar o Qualify do DRC [[Qualify DRC]].

Para rodar o VRC [[VRC]].

Comunicação VRC [[Comunicação VRC]]

Rodando o ROS em múltiplas máquinas [[Rodando o ROS em múltiplas máquinas]]

Instalando o Carmem limpo para o VRC [[Carmen VRC]]

Instruções para usar o CloudSim e acessar as máquinas do VRC [[Acesso VRC e CloudSim]]

Utilizando o ambiente do VRC - CloudSim [[Utilizando o ambiente do VRC - CloudSim]]

Readme alberto.txt

2013-06-04T19:40:34Z

Tiago Alves de Oliveira: Criou página com 'Para compilar, antes instale os prerrequisitos: sudo apt-get update * Install gazebo's dependencies sudo apt-get install -y cmake debhelper libfreeimage-dev libprotoc-dev \ ...'

Para compilar, antes instale os prerrequisitos:
sudo apt-get update
* Install gazebo's dependencies
sudo apt-get install -y cmake debhelper libfreeimage-dev libprotoc-dev \
libprotobuf-dev protobuf-compiler freeglut3-dev \
libcurl4-openssl-dev libtinyxml-dev libtar-dev \
libtbb-dev libogre-dev libxml2-dev pkg-config \
libqt4-dev ros-fuerte-urdfdom ros-fuerte-console-bridge \
libltdl-dev libboost-thread-dev libboost-signals-dev \
libboost-system-dev libboost-filesystem-dev \
libboost-program-options-dev libboost-regex-dev \
libboost-iostreams-dev robot-player-dev libcegui-mk2-dev \
libavformat-dev libavcodec-dev libswscale-dev libbullet-dev
* Install osrf-common's dependencies
sudo apt-get install -y cmake debhelper ros-fuerte-ros ros-fuerte-ros-comm
* Install sandia-hand's dependencies
sudo apt-get install -y cmake debhelper ros-fuerte-xacro ros-fuerte-ros \
libboost-dev ros-fuerte-image-common \
ros-fuerte-ros-comm ros-fuerte-common-msgs \
avr-libc gcc-avr libqt4-dev
* Install drcsim's dependencies
sudo apt-get install -y cmake debhelper ros-fuerte-pr2-mechanism \
ros-fuerte-std-msgs ros-fuerte-common-msgs \
ros-fuerte-image-common ros-fuerte-geometry \
ros-fuerte-pr2-controllers ros-fuerte-geometry-experimental \
ros-fuerte-robot-model-visualization ros-fuerte-image-pipeline \
ros-fuerte-image-transport-plugins

Compile:
cd drcsim-2.6.2
mkdir debug
cd debug
. /opt/ros/fuerte/setup.sh
. /usr/share/gazebo/setup.sh
cd ~/ros/drcsim-2.6.2/plugins/AtlasSimInterface_1.1.0/lib64
ln -s libAtlasSimInterface.1.1.0 libAtlasSimInterface.so
ln -s libAtlasSimInterface.1.1.0 libAtlasSimInterface.so.1.1
cd -
cmake -DCMAKE_BUILD_TYPE=Debug ..
make

Correntemente, estou trabalhando no actionlib_sever (drcsim-2.6.2/ros/atlas_msgs/actionlib_server.cpp).
Este programa faz a interface entre o programa em python de controle do robo e o proprio robo.
Ele recebe mensagens do programa em pyhton e manda as mensagens para o robo. Alem disso, ele
recebe mensagens de feedback do robo e pode melhor ajustar os comandas para atender ao que
o usuario demandou via python.

Para saber mais: http://gazebosim.org/wiki/DRC/UserGuide#Boston_Dynamics_Atlas_Simulation_Behavior_Library_.28AtlasSimInterface.29

Para alterar o codigo do actionlib_sever, apos executar os passos de compilacao (mencionados acima),
edite os arquivos drcsim-2.6.2/ros/atlas_msgs/actionlib_server.cpp e drcsim-2.6.2/ros/atlas_msgs/actionlib_server.h.
Para compilar o codigo alterado:
cd drcsim-2.6.2/debug/ros/atlas_msgs
make

Para usar o actionlib_sever basta executar o binario drcsim-2.6.2/debug/ros/atlas_msgs/bin/actionlib_server.
Alternativamente, voce pode fazer um link do binario drcsim-2.6.2/debug/ros/atlas_msgs/bin/actionlib_server para
dentro do diretorio bin de um pkg ros:
roscd lcad_ufes_vrc_task1
make
cd bin
ln -s ../../drcsim-2.6.2/debug/ros/atlas_msgs/bin/actionlib_server .

E criar um arquivo launch que use este actionlib_sever. O launch lcad_ufes_vrc_qualify_task1-1.launch usa
o actionlib_sever alterado. Para usa-lo, basta usar mecanismos usuais de launch:
roslaunch lcad_ufes_vrc_qualify_task1 lcad_ufes_vrc_qualify_task1-1.launch

Download / Installation

2013-05-17T13:16:22Z

2013-05-16T15:34:11Z

Tiago Alves de Oliveira: /* Task 2 */

Instalação DRC

2013-05-16T15:32:34Z

Tiago Alves de Oliveira: /* Task 2 */

Instalação DRC

2013-05-16T15:32:25Z

Tiago Alves de Oliveira: /* Task 1 */

Instalação DRC

2013-05-16T15:31:07Z

Equipe

2013-05-14T15:22:01Z

Tiago Alves de Oliveira:

__TOC__

==Researchers==

* Dr. Alberto Ferreira De Souza (Coordinator)
* Dr. Andrea Maria Pedrosa Valli
* Dr. Claudine Badue
* Dr. Edilson de Aguiar
* Dr. Elias Oliveira
* Dr. Lucia Catabriga
* Dr. Maria Cristina Rangel
* Dr. Maria Claudia Silva Boeres
* Dr. Fabio Daros Freitas

==Phd Students==

* Avelino Forechi
* Lucas de Paula Veronese
* Mariella Berger

==Masters Students==

* Cayo Fontana
* Filipe Wall Mutz
* Lauro Jose Lyrio Junior
* Michael André Goncalves
* Romulo Ramos Radaelli
* [http://www.lcad.inf.ufes.br/~toliveira Tiago Alves de Oliveira]
* Vitor Barbirato

==Graduate Students==

* Lucas Catabriga
* Ranick Guidolini

Equipe

2013-05-14T15:21:01Z

Tiago Alves de Oliveira:

__TOC__

==Researchers==

* Dr. Alberto Ferreira De Souza (Coordinator)
* Dr. Andrea Maria Pedrosa Valli
* Dr. Claudine Badue
* Dr. Edilson de Aguiar
* Dr. Elias Oliveira
* Dr. Lucia Catabriga
* Dr. Maria Cristina Rangel
* Dr. Maria Claudia Silva Boeres
* Dr. Fabio Daros Freitas

==Phd Students==

* Avelino Forechi
* Lucas de Paula Veronese
* Mariella Berger

==Masters Students==

* Cayo Fontana
* Filipe Wall Mutz
* Lauro Jose Lyrio Junior
* Michael André Goncalves
* Romulo Ramos Radaelli
* [www.lcad.inf.ufes.br/~toliveira Tiago Alves de Oliveira]
* Vitor Barbirato

==Graduate Students==

* Lucas Catabriga
* Ranick Guidolini

Instalando/Conectando via VNC no Carro

2013-04-03T23:27:29Z

Tiago Alves de Oliveira: /* No Ubuntu */

[[category:Configuração]]
Este é um tutorial para instalar o VNC nas blades do carro. Também mostra como acessar via Ipad e PC.

=Instalando o VNC=

Aqui são mostrados os passos para instalar o VNC para [[http://www.ubuntu.com Ubuntu]] e [[http://www.fedora-project.org Fedora]]

==No Ubuntu==

Instale o vnc server:
$ aptitude -y install vnc4server

Digite o seguinte comando com o usuário que você quer o acesso do vnc:
$ vncpasswd

Este comando é para configurar uma senha de acesso. Aparecerá algo assim:
Password:
Verify:

Depois de definir a senha digite:
$ vncserver :1

Mate o processo para poder configurar a sessão:
$ vncserver -kill :1

Altere o arquivo ~/.vnc/xstartup, conforme as seguintes linhas:
#!/bin/sh

# VNC Server (Virtual-Mode) start-up script compatible with Ubuntu 12.04

[ -r $HOME/.Xresources ] && xrdb $HOME/.Xresources
xsetroot -solid grey

vncconfig -iconic &

if [ -f /usr/bin/gnome-session ]; then
# Some gnome session types won't work with Xvnc, try to pick a sensible
# default.
for SESSION in "ubuntu-2d" "2d-gnome"; do
if [ -f /usr/share/gnome-session/sessions/$SESSION.session ]; then
DESKTOP_SESSION=$SESSION; export DESKTOP_SESSION
GDMSESSION=$SESSION; export GDMSESSION
STARTUP="/usr/bin/gnome-session --session=$SESSION"; export STARTUP
fi
done
fi

if [ -x /etc/X11/Xsession ]; then /etc/X11/Xsession
elif [ -x /etc/X11/xdm/Xsession ]; then /etc/X11/xdm/Xsession
elif [ -x /etc/X11/xinit/Xsession ]; then /etc/X11/xinit/Xsession
elif [ -x /etc/gdm/Xsession ]; then /etc/gdm/Xsession gnome-session
elif [ -x /etc/kde/kdm/Xsession ]; then /etc/kde/kdm/Xsession
elif [ -x /usr/dt/bin/Xsession ]; then
XSTATION=1 DTXSERVERLOCATION=local /usr/dt/bin/Xsession
elif [ -x /usr/dt/bin/dtsession ]; then /usr/dt/bin/dtsession
else
if which twm > /dev/null 2>&1; then
xterm -geometry 80x24+10+10 -ls -title "$VNCDESKTOP Desktop" &
twm
else
xterm -geometry 80x24+10+10 -ls -title "$VNCDESKTOP Desktop"
fi
fi

vncserver -kill $DISPLAY

Rode o seguinte comando para iniciar o vncserver
$ vncserver :1 -geometry 1024x768 -depth 24

==No Fedora==

Instale o Tiger VNC:
# yum -y install tigervnc-server

Digite os comandos abaixo como usuário normal (carxx):
$ vncpasswd

Este comando é para configurar uma senha de acesso. Aparecerá algo assim:
Password:
Verify:

Depois de definir a senha digite:
$ vncserver :1

Mate o processo para poder configurar a sessão:
$ vncserver -kill :1

Adicione no final do arquivo ~/.vnc/xstartup, as seguintes linhas:
# twm & # add at the last line: make it comment
exec gnome-session & # use Ghome

Rode o seguinte comando para iniciar o vncserver
$ vncserver :1 -geometry 1024x768 -depth 24

=Acessando a máquina=

==Via Ipad==

Para acessar o VNC via Ipad faça o seguinte:

Instale via AppStore alguns dos seguintes aplicativos:
* [[https://itunes.apple.com/us/app/vnc-client-universal-app/id565877664?mt=8 VNC Client]]
* [[https://itunes.apple.com/us/app/remotepc-remote-desktop/id405038711?mt=8 Remote PC Desktop]]
* [[https://itunes.apple.com/app/mocha-vnc-lite/id284984448?mt=8 Mocha VNC Lite]]

Eu recomendo instalar o VNC Client.

Depois de instalado condigure para acesar:
IP: 192.168.0.201
Senha: Padrão do LCAD
Porta: 5901

E conecte.

==Via PC==

Instale o VNC Viewer.

No Fedora digite:
# yum install tigervnc

No Ubuntu digite:
# apt-get install xtightvncviewer

Para acessar use:

No fedora:
$ vncviewer

No ubuntu:
$ xtightvncviewer

Digite o ip seguido de :1, assim:
192.168.0.201:1

Conecte