running sample rt systems
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Preparation
Windows
Installing RTCs
The following RTCs are used in some of the sample RT systems and must be installed.
DirectInputRTC
This RTC is used to operate the system with a joystick.
Download and run the installer from the following site:
JoystickToVelocity
This RTC converts the pos output (TimedLongSeq type) from the DirectInputRTC OutPort into the TimedVelocity2D type.
Download and run the installer from the following site:
FloatSeqToVelocity
FloatSeqToVelocity is an RTC that converts the output (TimedFloatSeq type) of the TkJoyStick sample included with OpenRTM-aist-Python into TimedVelocity2D and outputs it through an OutPort.
Download it from here.
| FloatSeqToVelocity | ||
|---|---|---|
| InPort | ||
| Name | Data Type | Description |
| in | TimeFloatSeq | Input data before conversion |
| OutPort | ||
| Name | Data Type | Description |
| in | TimedVelocity2D | Converted output data |
| Configuration Parameters | ||
| Name | Default Value | Description |
| rotation_by_position | -0.02 | Angular velocity corresponding to the joystick X position |
| velocity_by_position | 0.002 | Forward velocity corresponding to the joystick Y position |
Script Files
These script files automate RTC startup and RT system restoration.
Download them from here.
Starting the Name Server and RT System Editor
Windows
First, start the Name Server and RT System Editor on Windows.
For detailed instructions, refer to this page.
ev3dev
The downloaded package from the Bulk Installation section contains an rtc.conf file.
Modify the following line in rtc.conf by replacing ppp.pp.pp.ppp with the IP address of the Windows machine.
corba.nameservers: ppp.pp.pp.ppp
This allows components started on EV3 to be registered with the Name Server running on Windows.
To check the Windows IP address, enter:
ipconfig
Starting RTCs
Windows
The downloaded script package from the Script Files section contains a batch file named start_component.bat.
Executing it starts the following RTCs.
- This batch file is intended for 64-bit Windows and 32-bit OpenRTM-aist.
- For 32-bit Windows, use
start_component_32.bat. - If you are using the 64-bit version of OpenRTM-aist, use
start_component_64.bat.
If the Python installation directory is not included in the PATH environment variable, TkJoyStick cannot be started. In that case, please start it manually by following the instructions on this page.
ev3dev
Execute start_rtc.sh contained in the package downloaded from the Bulk Installation section.
cd RaspberryPiMouseRTSystem_script_Raspbian
sh start_rtc.sh
The following RTCs will start:
ControlEducatorVehicle0
EducatorVehicle0
Restoring and Starting the RT System
On Windows, execute JoystickControlEV3_resurrect.bat located in the JoystickControlEV3 folder of the downloaded package from the Script Files section.
This performs tasks such as:
- Connecting data ports
- Setting configuration parameters
Next, execute JoystickControlEV3_activate.bat to activate the RTCs.
JoystickControlEV3 is an RT system that controls the EV3 using a joystick component.
To deactivate the system, execute:
JoystickControlEV3_stop.bat
To disconnect the ports, execute:
JoystickControlEV3_teardown.bat
Sample Details
For samples other than JoystickControlEV3:
****_resurrect.bat: Restore RT system****_activate.bat: Activate RTCs****_stop.bat: Deactivate RTCs****_teardown.bat: Disconnect ports
| File Name | Description |
|---|---|
| `****_resurrect.bat` | Restore RT system |
| `****_activate.bat` | Activate RTCs |
| `****_stop.bat` | Deactivate RTCs |
| `****_teardown.bat` | Disconnect ports |
GamePadSimpleControlEV3
This sample RT system controls the Educator Vehicle in the direction indicated by the analog stick of a gamepad.
Connect a gamepad to the Windows PC before starting the system.
JoystickSimpleControlEV3
This sample RT system controls the Educator Vehicle in the direction indicated by the TkJoyStick sample component included with OpenRTM-aist-Python.
GamePadControlEV3
In addition to controlling the Educator Vehicle using a gamepad’s analog stick, this sample RT system performs control using the touch sensor, ultrasonic sensor, and color sensor.
JoystickControlEV3
In addition to controlling the Educator Vehicle using the TkJoyStick sample component included with OpenRTM-aist-Python, this sample RT system performs control using the touch sensor, ultrasonic sensor, and color sensor.
