Logfile Example

[weiweikong]

Hi, would it be possible to share some .mat files for testing the project, because that the setup of the code need logfile_name linking to the specific log data.

realtime_path = '/home/abarry/realtime/';
logfile_path = '/home/abarry/rlg/logs/2015-09-17-field-test/odroid-gps2/';

logfile_name = 'lcmlog_2015_09_17_04.mat';

Thanks

[andybarry]

Sure, what are you trying to look at? The system identification, simulation, or something else?

[weiweikong]

I would prefer to know more detail about the Trajectory Libraries, TVLQR feedback control and Online Planning, which based on this simulation environment. Or maybe some more introduction about the code would be better.

Also, I just finished watching your defense video, but there are still some details not mentioned during the talk. Is your thesis file online available?

Merry Christmas! ~

[andybarry]

Merry Christmas! I uploaded some log files and added links to the README. Take a look and let me know if it's what you were looking for. I'll upload the final pdf for my thesis in the next few days.

[weiweikong]

• Try to run do_pem.mfile Matlab reply Undefined function or variable 'loadDeltawing'. Does this function require drake? Shoud I put the lcmlog-* and lcmlog-*.jlp into `scripts/logs'?
• Try to load the log file using LoadAllogs.m It required trajlib_path = 'traj-archive/oct8-from-data-obstacle-ready.mat';, does this relate to the *.jlp file?
• Image Sequence Are there stereo pairs in these log? I would like to know the visual perception detail from the matching point to generate obstacle map and onboard state Estimation.

Would it be possible to give a short step-by-step introduction to load and test the log files for visual perception, trajectory planning and onboard control?

[andybarry]

Sorry, some of the .m files were mixed in with my other repo "flight." I moved them into this repo and changed a few things so that you can do almost everything without that repo.

I updated the README with some examples. Look at the beginning of do_pem.m and see if loading the logs works.

There are not images posted online yet -- I'll open another issue for that.

Let me know if the examples work and/or what else I should add.

[weiweikong]

Thanks for your update. There are some further errors.

• For do_pem.m There is a realtime_path which also has sub pathscripts/logs. Is this the same folder as logfile_path? But logfile_path should only contain .mat files which downloaded from odroid-gps2-2015-09-17-field-test.zip.

• For BuildTrajectoryLibrary

  • There was a warning

  LCM: Disabling IPV6 support
  LCM: TTL set to zero, traffic will not leave localhost.

  Is this a warning from Drake?

  • some java path

  Error initializing LCM types.  If you want to use the HUD visualizer, you need to run:
  javaaddpath('/home/abarry/realtime/LCM/LCMtypes.jar');
  javaaddpath('/home/abarry/pronto-distro/build/share/java/lcmtypes_mav-lcmtypes.jar');
  javaaddpath('/home/abarry/pronto-distro/build/share/java/lcmtypes_mav_estimator.jar');

• For Stereo Vision I already got the stereo videos, but did not find the related .m files which detect the obstacles ant generate path during the flight. As you mentioned, this supporiting vision algorithms towards to another issue which did not include in this one?

[andybarry]

realtime_path is the path to my other repo: https://github.com/andybarry/flight but I added some code which should mean that you don't need it. The Error initializing LCM types. If you want to use the HUD visualizer, you need to run error is telling you that you don't have that path, so it's disabling some functionality that you probably don't need (using a HUD visualizer in addition to the normal visualizer).

LCM: Disabling IPV6 support
LCM: TTL set to zero, traffic will not leave localhost.

are super-standard LCM warnings that you'll always see when using something with LCM in Matlab. Don't worry about those at all.

The stereo vision part isn't impemented in this repo (or in MATLAB). You'll find that in C++ over in my flight repo. Look here:

https://github.com/andybarry/flight/blob/master/sensors/stereo/pushbroom-stereo.hpp and https://github.com/andybarry/flight/blob/master/sensors/stereo/pushbroom-stereo-main.hpp

[andybarry]

Since you asked before, my thesis is now online: http://abarry.org/Barry16.pdf

[andybarry]

Datafiles are now online.