== '''Project card''' ==
* '''Project Name:''' Collaboration in JDEROBOT 5.0 migration.
* '''Authors:''' Javier Vázquez (javiervazper [at] yahoo [dot] es) and Jose María Cañas Plaza (jmplaza [at] gsyc [dot] es)

* '''Academic Year:''' 2009-2010

* '''Degree:''' Master

* '''Jde Version:''' [http://svn.jde.gsyc.es/jde/jdec/trunk/ jde-4.3]

* '''SVN Repository:'''

* '''Tags:''' VFF

* '''Technology:''' C, C++, JdeRobot, OpenGL, OpenCV, GTK, ICE

* '''State:''' Developing

* '''Source License:''' [http://www.gnu.org/licenses/gpl-3.0-standalone.html GPLv3]

* '''Schemas:'''

== '''Jderobot collaboration grant''' ==

=== Improving FAQ ===

2010.2.5. [http://jderobot.org/index.php/FAQ#How_do_I_upload_a_file.3F How do I upload files?]

=== JDErobot 5.0 ===

2010.2.28 [http://jderobot.org/index.php/Manual-5#Installing_JDErobot_5.0_on_Linux_Ubuntu_9.04 Installing JDErobot 5.0 on Linux Ubuntu 9.04]

2010.3.5 [http://jderobot.org/index.php/Manual-5#JDErobot_5.0_SVN JDErobot SVN folder organization]

== '''JDErobot 5.0 Migration'''==
=== '''Introduction'''===
(2010.3.5)
The main target of TFM is to collaborate on jde-developers community for migrating the current version 4.3 to new 5.0. The aim of this change is to enable the execution of JDErobot on a distributed system architecture. ICE middleware is a key factor to achieve this target. It's make possible to implement previous drivers and schemans components as a individual software artefacts with communication interfaces across a TCP/IP computers network. ICE allows JDErobot components to easily set-up their server and client interfaces.

An additional benefic for using ICE platform is the fact of components can be implemented in different programming languages supported by ICE-translator package. At this moment, C/C++, Java, Python and some others are on the scope.

This collaboration activity will consist of incremental phases:

* ''Engagement'': To understand JDErobot 5.0 architecture based on new ICE middleware. Get depper on several 4.3 driver and schemas implementation details (i.e: gazebo driver).
* ''Initial migration collaboration'': To migrate part of a 4.3 driver component on the new version & architecture. To be complaint with global architecture design decissions.
* ''JDERobot 5.0 component development'': To take part on entire driver components examples migration.

=== '''Identified tasks for next weeks'''===

(2010.4.25)

* Implement "Laser" interface in gazeboserver component.
* Migrate "gato y raton" practise from JDERobot 4.3 to JDERobot 5.0
* Improve gazeboserver code in order to support several robots instances at the same time (now, just support instance 1).
* Improve gazeboserver configuration file parameters.
* Extend gazeboserver with rest of actuatos/sensors
* Decide how to support Player/Stage (it's required for migrating previos practises: VFF and CHESTE). If it's required, to develop player component and its interfaces.
* Migrate VFF and CHESTE to JDERobotos 5.0
* Documentation for TFM.

=== '''JDERobot 5.0 component development'''===

(2010.4.25) '''Migrate "siguelinearoja" practise from JDERobot 4.3 to JDERobot 5.0, using introrob component'''

At this time, we had enogh infrastructure to import "sigue linea" logic into the new introrob component. Therefore, the target of this activity, was to migrate this practise and validate it in the new platform.

These are the results:

VIDEO CAPTURE

(2010.4.20) '''Version 1 of introrob component'''

At this point, it was very important to integrate camera view capability and motors actuatos interaction from a graphical interface. Moreover, the graphical interface could be design also to run robot navigation logic, which only depends of camera sensor and motors actuator.

Taking into account that JDERbotos 4.3 had an schema with this target (introrob), it was decided to migrate some capabilities of introrob 4.3 to 5.0 platform.

One of the changes, in term of GUI design, has been the graphical interface tecnology used. introrob 4.3 was implemented with FDesign, while, Glade and GTK libraries were selected in the new version.

The initial version keeps most of the buttons and panels but only implements the logic for camera visualization and Motors controlling. It's posponed, for a future release, the extension with player map visualization and scale and positions on the map.

As introrob made in the 4.3 version, the new component can switch the manual motors controlling to a automated mode, called "your code". When this option is pressed, introrob, launch some logic methods contained in "navigation" class, where the navigation and control logic is supposed to be.

Below, you can see a video capture where introrob is used on "manual" mode.

VIDEO CAPTURE

(2010.4.13) '''Development of gazebomotorsclient component'''

Before developing a graphical interface to access Motors interface, I developed an easy component called "gazebomotorsclient", which can be executed by commend line and it connects to gazeboserver, Motors interface, in order to retrievel V and W values of modified them.

Command line execution is very simple, due to no arguments could be specified for getting current V and W values and 2 real values could be written as arguments one and two, in order to update the speeds.

You can play the following video in order to see how it works and check the robots movement with cameraview component:

VIDEO CAPTURE

(2010.4.10) '''Extend gazeboserver component with Motors interface'''

One of the challengues of my next gazeboserver improvement was to extend it with a second interface for "motors" actuator of robot1. At this point, several ICE documentation articles were read in order to clarify how can be it done.

During this milestone archievement, a new ICE interface, called "Motors" was defines. In the initial version, it support four operations:
* getV
* getW
* setV
* setW

They will support the linear and radial speeds modification and status retrival.

Several tests were perform after its integration in gazeboserver component to validate that camera already worked and Motors was serving at the same time.

(2010.4.1) '''Finish version 1 of gazeboserver component'''

A new component has been developed, called "gazeboserver". The purpouse of this component is to server different gazebo platform interfaces for different robot's sensers and actuators. In the initial versión, gaseboserver focus on Pioneer robot and it sensor "camera".

In order to make this "camera" interface compatible with other JDERobot 5.0 components, such us, cameraview, the current "camera" interface used by "cameraserver" component was used in this case.

The result is a server component able to server gazebo robot1 camera to any "cameraview" process, pointing to this service.

Heareafte there is a video capture of gazeboserver and cameraview running:

VIDEO CAPTURE 1

=== '''Initial migration collaboration'''===

(2010.3.23) '''Incorporate gazebocamera to JDErobot 5.0 project'''

One of the important activities has been to understand how JDErobot 5.0 is compiled by using autoconf tools and how to update its configuration in order to add additional componentes or options to the compilation process.

As an example of the learn lesson, these are the list of tasks that were necessary to incorporate gazebocamera to the project:

* Additions to '''"m4"''' folder: This folder is used for auto tools configuration. The new component requirements have to be expresend at this locations by follows
** Create file '''"libgazebo.m4"''': Due to gazebocamera calls some gazebo library functionalities, libgazebo becomes considered a required component in JDErobot 5.0. This file expreses what "configure" script has to ensure for this library. It enables the option "--with-gazebo" in the configuration process.
** Create '''"component_gazebocamera.m4"''' with requirements. In includes gstreamer and libgazebo libraries check. Both are needed during the compilation.
* Additions to '''"/"''' folder: At root folder, "configure.in" is keeping the global configuration for the version. Three references had to be added in this file:
** add line '''"m4_include([m4/libgazebo.m4])"''' to libraries check section.
** add '''"m4_include([m4/component_gazebocamera.m4])"''' to components check section.
** add '''"src/components/gazebocamera/Makefile \"''' to components Makefiles generation section.
* Additions to '''"src/components/"''': There is a file "Makefile.am" with references to the list of subdirectories that have to be processed by make utility.
** Update the file '''"Makefile.am"''' with the reference to the new subfolder "gazebocamera"
*** '''"src/components/gazebocamera/"''' content organization: Apart of gazebocamera.cpp and gazebocamera.cfg files, a Makefile.am was created, in order to expecify the compilation rules and dependencies with dome libraries.

Content of '''"libgazebo.m4"''':
<pre>
dnl# Checks for gazebo

AC_ARG_WITH([gazebo],
[AS_HELP_STRING([--with-gazebo=<path>],[gazebo library prefix path. Default /usr])],
[],
[with_gazebo="/usr"])

if test "x$with_gazebo" != xno; then
GAZEBO_PREFIX=$with_gstreamer
GAZEBO_INCLUDE="$GAZEBO_PREFIX/include"
GAZEBO_CPPFLAGS="-I$GAZEBO_INCLUDE"
AC_SUBST([GAZEBO_PREFIX])
AC_SUBST([GAZEBO_INCLUDE])
AC_SUBST([GAZEBO_CPPFLAGS])

_SAVE_CPPFLAGS=$CPPFLAGS
CFLAGS="$CFLAGS $GAZEBO_CFLAGS"
CPPFLAGS="$CPPFLAGS $GAZEBO_CPPFLAGS"

AC_MSG_NOTICE([**** Checking gazebo support:])
PKG_CHECK_MODULES(
[GAZEBO],[gazebo],
[
GAZEBO_CPPFLAGS=$GAZEBO_CFLAGS
],
[
AC_MSG_NOTICE([Errors found checking gazebo support: $GAZEBO_PKG_ERRORS. Try setting --with-gazebo])
with_gazebo="no"
])

CPPFLAGS=$_SAVE_CPPFLAGS
fi
</pre>

Content of '''"component_gazebocamera.m4"''':
<pre>
dnl # Requirements for component gazebocamera
dnl # GStreamer, Gazebo

AC_ARG_ENABLE([component-gazebocamera],
[AS_HELP_STRING([--disable-component-gazebocamera],
[disable gazebocamera component compilation])],
[],
[enable_component_gazebocamera=yes])

if test "x$enable_component_gazebocamera" != xno; then
AC_MSG_NOTICE([**** Checking gazebocamera component requirements:])
if test "x$with_gstreamer" = xno; then
ERRORS="$ERRORS, gstreamer support not found. Try setting --with-gstreamer"
fi
if test "x$with_gazebo" = xno; then
ERRORS="$ERRORS, gazebo support not found. Try setting --with-gazebo"
fi
if test "$ERRORS"; then
AC_MSG_NOTICE([Errors found checking gazebocamera requirements: $ERRORS. Component disabled])
AM_CONDITIONAL([ENABLE_COMPONENT_GAZEBOCAMERA],[false])
else
AC_MSG_NOTICE([Component enabled])
ENABLED_COMPONENTS="$ENABLED_COMPONENTS gazebocamera"
AM_CONDITIONAL([ENABLE_COMPONENT_GAZEBOCAMERA],[true])
fi
fi
</pre>

Content of '''"Makefile.am"''' (at gazebocamera folder):
<pre>
if ENABLE_COMPONENT_GAZEBOCAMERA
bin_PROGRAMS = gazebocamera
endif

gazebocamera_SOURCES = gazebocamera.cpp
gazebocamera_CPPFLAGS = $(LIBJDEROBOTICE_CPPFLAGS) \
-I$(top_srcdir)/src/libs -I$(top_srcdir)/src/interfaces/cpp
gazebocamera_LDFLAGS = $(GAZEBO_LIBS)
gazebocamera_LDADD = $(top_srcdir)/src/libs/jderobotice/libJderobotIce.la \
$(top_srcdir)/src/libs/jderobotutil/libJderobotUtil.la \
$(top_srcdir)/src/libs/colorspaces/libcolorspacesmm.la \
$(top_srcdir)/src/interfaces/cpp/jderobot/libJderobotInterfaces.la

dist_conf_DATA = gazebocamera.cfg
</pre>

(2010.3.21) '''gazebocamera development and testing'''

Taking "cameraserver" component as a 5.0 reference, and "gazebo" jderobot 4.3 driver as logic implementation for accesing diferent sensors and actuators of pioneer robot in gazebo infrastructure, our first step was to develop a simple "gazebocamera" component with the following requisites:

* Implement a server interface to access first gazebo camera.
* Be compaint with jderobot 5.0 architecture design, where camera interface is used in the same way than cameraserver does.
* Be able to test gazebocamera component with cameraview one.

During the design and implementation, the following considateration were taken into account:

* Study design of cameraserver component in term of jderobot interfaces and common definitions usage (4 hours)
* Analyze how cameraserver code could be reused for gazebocamera adaptation: remove gst and pipeline references, where to initialize and retrive camera data from gazebo, etc. (8 hours)
* Study gazebo driver in jderobot 4.3 version and extract logic to access first camera (4 hours)
* Implement new component reusing previous code (8 hours)
* Clean up non-used cameraserver references to libraries, functions and objects such us pipeline. (2 hours)
* Compile and testing with cameraview (3 hours)
* Upload new code to SVN repository (jderobot 5.0 branch plus personal SVN repository) (2 hours)
* Brieflty documentation at this page (1 hour).

Hereafter, there is a video of how gazebo, gazebocamera and cameraview can be launched at different terminals and communicate each other throw shared memory (gazebo - gazebocamera) and ICE (gazebocamera-cameraview).

<video width="570" height="270">http://jderobot.org/users/jvazquez/videos/gazebocamera_1.flv</video>

=== '''Engagement'''===

(2010.3.5) '''cameraserver-cameraview components compilation and testing'''

At the moment of this note, only cameraserver and cameraview components are developed and available at JDErobot 5.0 branch. As initial touchdown to 5.0, both elements are compiled and customized for testing. cameraserver code is also studied to understand how, 'Camera' interface is used. That's an important task due to the following activity will consist of creating gazeboserver component including just camera interface. Gazebo's Camera interface must be complaint with cameraserver one, that means, with Camera definition.

First step to compile cameraserver-cameraview is to produce c++ code from camera ICE interface definition:
<pre>
jvazquez@ubuntu:~/workspace/jderobot_5.0/src/interfaces/slice/jderobot$ echo $ICE_HOME
/home/jvazquez/workspace/jderobot_5.0/src/interfaces/slice
jvazquez@ubuntu:~/workspace/jderobot_5.0/src/interfaces/slice/jderobot$ slice2cpp -I$ICE_HOME camera.ice
jvazquez@ubuntu:~/workspace/jderobot_5.0/src/interfaces/slice/jderobot$ ls -ltr camera*
-rw-r--r-- 1 jvazquez jderobot 1180 2010-02-25 16:22 camera.ice
-rw-r--r-- 1 jvazquez jderobot 23134 2010-03-05 11:35 camera.h
-rw-r--r-- 1 jvazquez jderobot 16113 2010-03-05 11:35 camera.cpp
</pre>

Second,

(2010.3.1) '''ICE Platform understanding'''

During several days, [http://www.zeroc.com/doc/Ice-3.4.0/manual/toc.html ICE online documentation] have been studied to obtain a general understaing of how this middleware works and try to foresee how 4.3 elements can be adapted on this.

During this self-training activity, several guided exampled have been tested to consolidate the concepts. Some of these code examples were checked-in at my personal trunk folder.

== '''Visual navigation: Follow the mouse''' ==

(2010.2.22)

The purpose of this programming exercise is to implement a visual identification of a known object trying to identify it by its colors pattern and morphological appearance. Additionally, the target object be identified can be moving. On the other hand, once the object has been identified, the robot logic has to use its motors actuators in order to follow the target and approximate to it (but not crashing with it)

Basically, the problem has been segregated into several sequential steps:

1. (warm-up) Investigate how to access imangenA display in introbot schema's gui. This allow us to paint some annotations over robot's camera display and, therefore, be able to trace the logic behavior afterwards. In this sense, it was basically set up some functions to access imangenA_buf variable from navegacion.c file. imangeA_buf was exported from introrob.c. These functions allow us to paint points, lines and squares, of different colors, over the display.

2. Filter input video image to keep just target object's colors. This allows the following step to easily identify the target in the image. Due to the object we look for in this practice is another pioneer robot, we kept blue and red colors as original and switch the rest to gray scale.

3. Identify pioneer robot by looking for some geometric patterns between blue and red spots (squares approximation). In this case, we made the assumtion, a pioneer robot is formed by a red base with bigger width that height and a blue square on top of the base with a short distance in between and smaller that the base.

4. Calculate target angle and distance. Target angle is obtained from visual processing while, for distance, we use laser sensor. We use laser values in a restricted angle area when robot is aligned with the target. Thus, this data are used to fix linear (v) and angular (w) speeds.

Hereafter, I attached several screen captures, ordered from final result to initial tests. As remark for these video, it's important to say that I'm using a emulated linux platform with VMWare. Although, physical PC has good computation capacity (T8300) and VMware was tuned for providing the maximum resource to its virtual instance, we observe it's not always enough to run gazebo. In any case, I ensure it's not due to a bad robots algorithm performance. :-)

Final result video (1/2).

<video width="570" height="270">http://jderobot.org/users/jvazquez/videos/gatoyraton_identifyobjects_poc-3.flv</video>

Final result video (2/2).

<video width="570" height="270">http://jderobot.org/users/jvazquez/videos/gatoyraton_identifyobjects_poc-3-2.flv</video>

Intermediate status video: Identify full spots on the image.

<video width="570" height="270">http://jderobot.org/users/jvazquez/videos/gatoyraton_identifyobjects_poc-1.flv</video>

Initial video: After color filtering, identify small colored boxed.

<video width="570" height="270">http://jderobot.org/users/jvazquez/videos/gatoyraton_identifyobjects_poc.flv</video>

== '''Visual navigation: Follow red line''' ==

(2010.2.11)

Pioneer robot is able to go forward in one direction following a red line drawn in the floor. As previous practises, we use a simulated environment but, in this case, 2D platform (Player & Stage) and replaced by 3D (Gazebo). SonyVID30 Camera is use as unique input passive sensor.

The main goal of this algorithm consisted of check if red line is in front of the camera and aligned to robot’s direction. Additionally, the logic must be able to recognize little deviations while running in a straight corridor and approximations to red line corners where robot has to perform a force direction change. Due to working with crude input video stream makes difficult to achieve previous tasks, a previous video signal processing has been implemented. This processing phase, is able to focus on the content of bottom-center rectangle (90X60 pixels) and subdivide it in 9 rectangles as a 3x3 matrix of 30x20 pixel dimension. One by one, image processing algorithm checks red colour percentage in this cells and store this information in a float matrix variable.

Thus, linear and radial speeds are adjusted based of different status cases over matrix colour results. I.e. When upper-centre and center-center rectangle’s values are over 50%, “v” is ser to 500 and “w” set to “0”.

The following video shows the result obtained.

<video width="608" height="280">http://jderobot.org/users/jvazquez/videos/siguelinea_demo1.flv</video>

== '''VFF: Deliberative-Reactive navigation in a circuit (CHESTE)''' ==

==='''Adaptation of pure reactive schema'''===

(2010.2.6)

Introbot schema has been adapted (in navigation.c file) to take into account a list of intermediate destinations. The new algorithm processes the list of destinations sequentially instead of change it dynamically when user picks a new point with the mouse.
As result, a deliberative-reactive navigation is implemented.

The following demonstration video could be improve by increasing linear speed and selecting better intermediate points (some of them are very in the external corner of the curve).

<video width="695" height="320">http://jderobot.org/users/jvazquez/videos/vff_chester_v1.flv</video>

== '''VFF: Reactive navigation between obstacles''' ==

==='''Improvement on robot's navigation behaviour'''===

(2010.2.1)

Several adaptations were included in the code in order to improve the navigation results:
*Pure VFF algorithm codification (previous attempt didn't calculate the rejection force correctly).
*Security window implementation. A virtual square has been defined at robot's front-end. When an obstacle appears inside the security box, linear and radial speed control logic updates the values in order to put away the object asap.
*Improvement of linear and radial control logic. The different cases have been reviewed.

<video width="688" height="288">http://jderobot.org/users/jvazquez/videos/vff_obstacles_v2.flv</video>

==='''Warming up with first version'''===

(2010.1.22)

First implementation of VFF algorithm for navigating a squared area with several obstacles. Some issues aren't solved yet, such as, collisions with obstacle's corners, direction balancing while running in a corridor, speed limitation, collision when the atraction and rejection forces are opposite.

<video width="700" height="520">http://jderobot.org/users/jvazquez/videos/vff_obstacles_v1.flv</video>

User:Jvazquez

2010-04-25T09:43:01Z

2010-03-07T10:43:17Z

Jvazquez: /* Installing JDErobot 5.0 on Linux Ubuntu 9.04 */

This is the manual for jderobot-5. The most updated release of the documentation for this experimental release is this mediawiki.

=Introduction=
== What is this Manual for? ==
This manual is intended to describe the JDErobot 5.0 software, its design and its components. It is oriented to JDErobot users and JDErobot developers. For developers it includes descriptions for each piece of software in this experimental distribution.

This is the official most up to date documentation of JDErobot 5.0. It is written in the mediawiki tool because reading a mediawiki is more handy than reading a manual in paper and because videos can be included, enhancing the descriptions.

== What is JDErobot 5.0? ==

=Installing JDErobot 5.0=

== Installing JDErobot 5.0 on Linux Ubuntu 9.04 ==

This chapter consolidates JDErobot 5.0 installation process on a Linux Ubuntu 9.04 operating system. The system used had already installed previous JDErobot version, 4.3.

=== Installing ICE middleware ===

The new version of JDErobot requieres this GNU component as a feature for communicating different JDErobot components and make them work together in a distributed system environment.

ICE, stands for the Internet Communications Engine, is a middleware for the practical programmer developed by ZeroC Inc. A high-performance Internet communications platform, Ice includes a wealth of layered services and plug-ins.

Ice is built on concepts which will be familiar to CORBA programmers, and supports a wide variety of programming languages and runtime platforms. Slice is the interface description language used in Ice.

First, '''ice33-slice''' component has to be installed (ice*-slice). This package installs the Slice language definitions of standard Ice services on /usr/share/slice. You will find further information in the ZeroC home page (http://www.zeroc.com/ice.html) and in the non-free package zeroc-ice-manual.

<pre>
$ sudo apt-get install ice33-slice
[sudo] password for jvazquez:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following NEW packages will be installed:
ice33-slice
0 upgraded, 1 newly installed, 0 to remove and 193 not upgraded.
Need to get 181kB of archives.
After this operation, 2,966kB of additional disk space will be used.
Get:1 http://us.archive.ubuntu.com karmic/universe ice33-slice 3.3.1-6 [181kB]
Fetched 181kB in 1s (142kB/s)
Selecting previously deselected package ice33-slice.
(Reading database ... 176692 files and directories currently installed.)
Unpacking ice33-slice (from .../ice33-slice_3.3.1-6_all.deb) ...
Setting up ice33-slice (3.3.1-6) ...
</pre>

At [file:///usr/share/doc/ice33-slice/reference/index.html] directory, a reference guide is available after installation.

It's also neccesary to install '''ICE translator''' module, '''ice33-translators''' (ice*-translators), by executing the following command:

<pre>
$ sudo apt-get install ice33-translators
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following extra packages will be installed:
libiceutil33 libmcpp0 libslice33
The following NEW packages will be installed:
ice33-translators libiceutil33 libmcpp0 libslice33
0 upgraded, 4 newly installed, 0 to remove and 193 not upgraded.
Need to get 1,440kB of archives.

...

Processing triggers for libc-bin ...
ldconfig deferred processing now taking place
</pre>

For a developing environment, it's also requiered the installation of '''libzeroc-ice33-dev''' package with any dependency.

<pre>
$ sudo apt-get install libzeroc-ice33-dev
[sudo] password for jvazquez:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following extra packages will be installed:
libdb4.6++ libfreeze33 libglacier2-33 libicebox33 libicegrid33 libicepatch2-33 libicessl33 libicestorm33 libicexml33 libzeroc-ice33 libzeroc-ice33-dbg
The following NEW packages will be installed:
libdb4.6++ libfreeze33 libglacier2-33 libicebox33 libicegrid33 libicepatch2-33 libicessl33 libicestorm33 libicexml33 libzeroc-ice33 libzeroc-ice33-dbg
libzeroc-ice33-dev
0 upgraded, 12 newly installed, 0 to remove and 193 not upgraded.
Need to get 36.7MB of archives.

...

Processing triggers for libc-bin ...
ldconfig deferred processing now taking place
</pre>

Finally, if any ICE service, such us, icegrid or icestorm, is goning to be used, ice33-services (ice*-services) is requiered.

=== Installing GStreamer development framework ===

GStreamer is a streaming media framework, based on graphs of filters which operate on media data. Applications using this library can do anything from real-time sound processing to playing videos, and just about anything else media-related. Its plugin-based architecture means that new data types or processing capabilities can be added simply by installing new plug-ins.

This framework is used for Camera component interface impletentations. JDErobot 5.0 Components, such us cameraserver requieres this libraries and development packages.

First, install '''libgstreamer0.10-dev''' package for developing environment.

<pre>
jvazquez@ubuntu:~/PL/practica3/ejercicio1$ sudo apt-get install libgstreamer0.10-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
libsigc++-2.0-dev libxml++2.6-dev libgstreamermm-0.10-2 libglibmm-2.4-dev
Use 'apt-get autoremove' to remove them.
Suggested packages:
gstreamer0.10-doc
The following NEW packages will be installed:
libgstreamer0.10-dev
0 upgraded, 1 newly installed, 0 to remove and 192 not upgraded.
Need to get 0B/873kB of archives.
After this operation, 4,047kB of additional disk space will be used.
Selecting previously deselected package libgstreamer0.10-dev.
(Reading database ... 177838 files and directories currently installed.)
Unpacking libgstreamer0.10-dev (from .../libgstreamer0.10-dev_0.10.25-2_i386.deb) ...
Processing triggers for man-db ...
Setting up libgstreamer0.10-dev (0.10.25-2) ...
</pre>

Then, install '''libgstreamer-plugins-base0.10-dev''' as well

<pre>
jvazquez@ubuntu:~/PL/practica3/ejercicio1$ sudo apt-get install libgstreamer-plugins-base0.10-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
libsigc++-2.0-dev libxml++2.6-dev libgstreamermm-0.10-2 libglibmm-2.4-dev
Use 'apt-get autoremove' to remove them.
The following NEW packages will be installed:
libgstreamer-plugins-base0.10-dev
0 upgraded, 1 newly installed, 0 to remove and 192 not upgraded.
Need to get 0B/138kB of archives.
After this operation, 1,450kB of additional disk space will be used.
Selecting previously deselected package libgstreamer-plugins-base0.10-dev.
(Reading database ... 177967 files and directories currently installed.)
Unpacking libgstreamer-plugins-base0.10-dev (from .../libgstreamer-plugins-base0.10-dev_0.10.25-2ubuntu1.2_i386.deb) ...
Setting up libgstreamer-plugins-base0.10-dev (0.10.25-2ubuntu1.2) ...
</pre>

=== Installing GearBox development package ===

'''GearBox''' has to be also installed. At the moment of this documentation, there isn't a Debian package yet. Installation instructions can be read at [http://gearbox.sourceforge.net/gbx_doc_getting.html http://gearbox.sourceforge.net/gbx_doc_getting.html]

* Download gearbox source files [http://sourceforge.net/projects/gearbox/files/gearbox/9.11/gearbox-9.11.tar.gz/download http://sourceforge.net/projects/gearbox/files/gearbox/9.11/gearbox-9.11.tar.gz/download]
* Install CMake software:

<pre>
sudo apt-get install cmake
</pre>

* Follow the rest of configuration, compilation and installation steps for Debian/Ubuntu [http://gearbox.sourceforge.net/gbx_doc_installdebian.html]

=== Installing OpenCV 2.0.0 ===

'''OpenCV (Open Source Computer Vision)''' is a library of programming functions for real time computer vision. It is released under a BSD license, it is free for both academic and commercial use. The library has >500 optimized algorithms (see figure below). It is used around the world, has >2M downloads and >40K people in the user group.

Refer to [http://opencv.willowgarage.com/wiki/InstallGuide http://opencv.willowgarage.com/wiki/InstallGuide] in order to download and install the component on Linux.

=== Installing Gtkmm 2.4 ===

'''Gtkmm''' is a C++ interface for the popular GUI library GTK+. Gtkmm provides a convenient interface for C++ programmers to create graphical user interfaces with GTK+'s flexible OO framework. Highlights include type safe callbacks, widgets extensible using inheritance and over 180 classes that can be freely combined to quickly create complex user interfaces.

Install '''libgtkmm-2.4-dev''' Debian package:

<pre>
sudo apt-get install libgtkmm-2.4-dev
</pre>

=== ICE Documentation ===

You can find an extended on-line manual at [http://www.zeroc.com/doc/Ice-3.3.1/manual/toc.html]

=Running JDErobot 5.0=

=Programming a component for JDErobot 5.0=

=Components=
==cameraserver==
==cameraview==
==motiondetection==

=Libs=
==Colorspacesmm==

=JDErobot 5.0 SVN=
== Download and access to 5.0 development sources==
Version 5.0 is available in one development branch of JDErobot SVN repository. Once you download this repository by running the following command:

<pre>
svn co http://svn.jderobot.org/jderobot
</pre>

version 5.0 is available at [http://svn.jderobot.org/jderobot/branches/5.0 "./jderobot/branches/5.0"]

== JDErobot 5.0 SVN folder organization==
Under 5.0 repository, the following folders are available:

* [http://svn.jderobot.org/jderobot/branches/5.0/doc/ doc/]: Access to documentation.
* [http://svn.jderobot.org/jderobot/branches/5.0/m4/ m4/]: Autotools.
* [http://svn.jderobot.org/jderobot/branches/5.0/scripts/ scripts/]: Scripts and utilities.
* [http://svn.jderobot.org/jderobot/branches/5.0/src/ src/]: Source code.
** [http://svn.jderobot.org/jderobot/branches/5.0/src/components/ components/]: code for standard components.
** [http://svn.jderobot.org/jderobot/branches/5.0/src/interfaces/ interfaces/]: code for standard interfaces.
** [http://svn.jderobot.org/jderobot/branches/5.0/src/libs/ libs/]: libraries.
*** [http://svn.jderobot.org/jderobot/branches/5.0/src/libs/colorspaces/ colorspaces/]: images and color spaces management.
*** [http://svn.jderobot.org/jderobot/branches/5.0/src/libs/jderobotice/ jderobotice/]: JDErobot library for any topic related to ICE middleware.
*** [http://svn.jderobot.org/jderobot/branches/5.0/src/libs/jderobotutil/ jderobotutil/]: JDErobot library for utilities.