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    Pablo Bustos
    @pbustos
    Ok, I'll try the demo.
    Regarding the shape, it is not meant to ve animated, but to be added to an existing robot, as a cover
    Nikhil
    @nikhil3456
    sir, I wrote this first tutorial to introduce how to write the basic controller in V-REP: https://github.com/nikhil3456/V-REP/blob/documentation/tutorial/V-REP_API.md
    Please, suggest what more do I need to add in it and any changes?? And , sir do we need to add a tutorial to introduce the basic V-REP functionalities (V-REP GUI)
    Pablo Bustos
    @pbustos
    Great, you need now to post to the blog ASAP these results.
    Nikhil
    @nikhil3456
    okay sir
    Pablo Bustos
    @pbustos
    Nikhil, the post is a little short. To validate the V-REP integration with RoboComp you need to use the existing RoboComp bridge components
    DifferentialRobot to move the robot and another one for the sensor. If it is a point light sensor we don't have that interface yet in RoboComp. One solution is to use de Camera interface and the associated component and simulate a very small color camera of 20x20 pixels. That could work.
    Nikhil
    @nikhil3456
    Okay, sir. I am already trying to validate using the RoboComp bridge components, I will post as soon as I am done
    Pablo Bustos
    @pbustos
    We need to have this before the end of the evaluation perior.
    Thanks
    Pablo Bustos
    @pbustos
    Nikhil, to move the Lego robot, what API functions did you use? Is there something to assign an advance and rotation speed to the whoel robot?
    Nikhil
    @nikhil3456
    sir, I used "simxSetJointTargetVelocity" to move the Lego robot
    Actually, there are two joints(wheel) in the hierarchy of the Lego_EV3 named Motor_B and Motor_C.
    To move the robot on a straight line I assigned same velocity to both the motors
    and for rotation I assigned different velocity according to the requirements
    No, sir No such advance and rotation speed to the whole robot. But, I'll look for it if its required?
    Pablo Bustos
    @pbustos
    Yes, we need it for the DifferentialRobotVREP interface.
    Advance speed is a function of wheel radius and distance between wheels using simple trigonomtetric formuli
    Maybe it can be plugge i in as a Lua script in the hierarchy. Another solution would be to pass the geometric data (radius and axle length) to the RoboComp component in the config ffile and do the calculations inside.
    Nikhil
    @nikhil3456
    Okay sir, I will look for such function.
    And try the other solution in case
    sir the above is the EV3_VREP robocomp component that uses differential robot
    the above component can be tested by running: python2 src/EV3_VREP.py etc/config
    me and jose collaborated to make and test this
    We are planning to test various other components as well now
    Pablo Bustos
    @pbustos
    Ok, a few things:
    • #

      setSpeedBase

      #
      def setSpeedBase(self, adv, rot):
        #
        #implementCODE
        #
        pass
      That is the main method offered by the interface of the component, i.e. what other components call to make the robot move.
      That is the one you need to code. You have to solve here the problem of going from robot advance and rotation speed to left-right wheel rotational speed.
      That function depends on the wheel radius and axle length. If there is an API's function for this, that is the best solution. If not, you have to put the params in the config file of the component so they are read at start
    Please, check that the component wroks OK by connecting a joystick and the corresponding joysitckComp in the repo robocomp-robolab/components
    You should be able to drive the Lego robot with the JS
    Also, params such as the IP should also be read from the config file: self.handler = EV3Controller("127.0.0.1", 19999)
    Nikhil
    @nikhil3456
    Okay, sir. got it, I will work on it right now
    and will keep you updated
    thanks
    Pablo Bustos
    @pbustos
    Hi, how is the documentation going? Can we show something to the people in Birmingham?
    Nikhil
    @nikhil3456
    Yes sir, me and Jose are working together on it. Will give you updates tomorrow
    Pablo Bustos
    @pbustos
    ok thanks. As soon as we have am usable documentation we must finish the basic robocmp-vrep bridge components and test them
    Nikhil
    @nikhil3456
    Pablo Bustos
    @pbustos
    Hello, I am sorry but it is not the idea. See, when you explain how to wrtie a "line followiing" component for VERP you DO NOT use there directly the VREP API.
    You communicate with, at least, two other components: DifferentialRobotVREP and CameraVERP,. Those components are the ones the DO use the VREP API
    This scheme isolates high-level, logic control code from low-level drivers
    Nikhil
    @nikhil3456
    Sir, can you explain the requirements in a little detailed way, if possible, like where(which file)should the logic (for robo to follow line) , where should the VREP API func should lie etc.
    And also a little explanation and expectation on each would be really helpful?
    It would save a lot of time and efforts and will enalble us to do things in a go.
    Pablo Bustos
    @pbustos
    Ok, sorry about that. I though Jose was already aware of this.
    You need to start completing DifferentialRobotVREP with the necessary VREP API calls so it can be used by the standard JoystickComp component to control the simulated robot
    Is that part clear? It is basic RoboComp material plus the VREP part that we know already
    Nikhil
    @nikhil3456
    Yes sir. Cool I think we should should move step by step. First I will complete the DifferentialRobotVREP with necessary VREP API calls.
    Pablo Bustos
    @pbustos
    Great
    Pablo Bustos
    @pbustos
    We need a post soon guys. How is the integration going? It is a first year assignment
    :)
    Pablo Bustos
    @pbustos
    Is the joystick basic test working already? Remember: joystickComp -> DifferentialRobot -> VREP (two comps and the simulator)
    We have a lot of work to do and very little time