This repository features scripts and resources for the ongoing Morphosis project by Sofian Audry and Rosalie D. Gagné.
Default IP addresses (need to be setup on the router):
Device | IP |
---|---|
RTLS/MQTT Gateway | 192.168.0.200 |
Robot 1 Esp32 | 192.168.0.110 |
Robot 2 Esp32 | 192.168.0.120 |
Robot 3 Esp32 | 192.168.0.130 |
Visualizer 1 RPi | 192.168.0.161 |
Visualizer 2 RPi | 192.168.0.171 |
Visualizer 3 RPi | 192.168.0.181 |
Main Computer | 192.168.0.190 |
MQTT Port: 1883
When entering a new location it is best to calibrate the robot IMUs. In order to do so:
- Begin calibration by sending MQTT command
/calib begin
- Calibrate accelerometer by putting the robot in 6 different positions (as in the 6 faces of a "cube") and hold each position for ~2 seconds.
- Calibrate gyroscope by putting the robot on the ground and let it stabilize, then wait ~2-3 seconds.
- Calibrate magnetometer by rotating the device ~180° and back to the beginning position in each axis (pitch, roll, yaw) at a speed of about ~2 seconds for each axis.
- Save calibration settings:
/calib save
- Stop calibration settings:
/calib stop
(Currently not working)
TARE needs to be performed on an already calibrated unit.
- Put robot facing along the x axis of the room (according to the virtual coordinate system of the UWB positional system). Make sure the robot is stable and does not move.
- Trigger tare by sending OSC command
/tare-now
. You should see the Z euler angle become close to zero (0). - Save tare by sending OSC command
/tare-save
. - (optional) Reboot the robot and move it a little bit so that it refreshes itself: it should then find back more-or-less its heading.
Launching an experiment requires to run the Python 3 script morphoses.py <behavior_file.yml>
Contains python scripts for interacting with a Unity simulation and for conducting machine learning experiments.
All the ML scripts are in the Python/ml subfolder.
Contains the Unity project for generating simulated data.
- Install OSC tools:
sudo apt-get install pyliblo-utils
- Install latest version of Arduino
- Install the following Arduino libraries using the Library manager: Async MQTT, Sparkfun BNO080
- Follow instructions to install ESP8266 Addon for Arduino
- Also install the ESP32 Addon for Arduino
- Install latest version of Processing
- Install Processing library OSCP5
- Connect HOST to local wifi network.
- Use
ifconfig
to check the IP address of HOST computer.
- From the root of the project:
cd MorphosesMainBoard
- Copy config file:
cp MorphosesConfig.h.example MorphosesConfig.h
- Open MorphosesMainBoard in Arduino and edit MorphosesConfig.h (see below)
- Upload to board
Setup wifi AP here:
#define WIFI_SSID "Morphoses"
#define WIFI_PASSWORD "<password>"