Add support for Lego Mindstorms EV3?

[jabrena]

Hi,

I would like to test your project on EV3.

Any orientation to begin?

Juan Antonio

[jabrena]

What is the usage of the Depth Camera?
Is it necessary to do SLAM?

Juan Antonio

[rlsutton1]

The depth camera is not currently required for anything. It didn't have the range I required.

[rlsutton1]

Initial orientation of the ribot is unimportant or are you asking about the lidar

[jabrena]

Good morning @rlsutton1,

Yes, I am interesting to reuse SLAM features with a robot developed with EV3.
This is the purpose.

I would like to see if the classes that model the robot with the Roomba connection has some kind of Factory or something similar in order to provide another implementation in this case an EV3.

[rlsutton1]

Sorry, no factory.

There are 2 classes for the roomba, RoombaRobot and Roomba630.

A factory is an excellent idea. You could copy RoombaRobot with minimal changes. You would have to completly rewrite Roomba630 for your platform.

I'll also point out that most of the high level control is run on a separate computer.

There is some ip addresses that will probably need reconfiguring.

I no longer use Pi4j but there is old code in the project for it. I expect you may have problems if it is not removed.

If i get time this weekend I'll try to remove the Pi4j code.

What time zone are you in, I'm GMT +10.

[rlsutton1]

I will also add some info to the readme on how to launch the code. I'd like to help you and document the process for others in the readme of this project.

[jabrena]

I will fork the project this weekend. I will say something next week.

Cheers

[rlsutton1]

No problem, I've now removed pi4j and a few other libs from the code. haven't tested it though

[jabrena]

I will test it :)

[jabrena]

Good afternoon,

I reviewed ´master´ branch and exist some compilation problems.

[ERROR] Failed to execute goal org.apache.maven.plugins:maven-compiler-plugin:3.1:compile (default-compile) on project piBot: Compilation failure: Compilation failure: 
[ERROR] /Users/jabrena/Documents/DATA/2018/RESEARCH/robotics/java/piBot/src/main/java/au/com/rsutton/mapping/particleFilter/RobotPoseSource.java:[32,25] cannot find symbol
[ERROR]   symbol:   class ParticleFilterStatus
[ERROR]   location: interface au.com.rsutton.mapping.particleFilter.RobotPoseSource
[ERROR] /Users/jabrena/Documents/DATA/2018/RESEARCH/robotics/java/piBot/src/main/java/au/com/rsutton/navigation/Navigator.java:[19,34] package au.com.rsutton.depthcamera does not exist
[ERROR] /Users/jabrena/Documents/DATA/2018/RESEARCH/robotics/java/piBot/src/main/java/au/com/rsutton/mapping/particleFilter/ParticleFilterImpl.java:[521,17] cannot find symbol
[ERROR]   symbol:   class ParticleFilterStatus
[ERROR]   location: class au.com.rsutton.mapping.particleFilter.ParticleFilterImpl
[ERROR] /Users/jabrena/Documents/DATA/2018/RESEARCH/robotics/java/piBot/src/main/java/au/com/rsutton/mapping/particleFilter/ParticleFilterImpl.java:[744,16] cannot find symbol
[ERROR]   symbol:   class ParticleFilterStatus
[ERROR]   location: class au.com.rsutton.mapping.particleFilter.ParticleFilterImpl
[ERROR] /Users/jabrena/Documents/DATA/2018/RESEARCH/robotics/java/piBot/src/main/java/au/com/rsutton/robot/lidar/MovingLidarObservationBufferTest.java:[11,45] cannot find symbol
[ERROR]   symbol:   class ParticleFilterStatus
[ERROR]   location: package au.com.rsutton.mapping.particleFilter
[ERROR] -> [Help 1]
[ERROR] 
[ERROR] To see the full stack trace of the errors, re-run Maven with the -e switch.
[ERROR] Re-run Maven using the -X switch to enable full debug logging.
[ERROR] 
[ERROR] For more information about the errors and possible solutions, please read the following articles:
[ERROR] [Help 1] http://cwiki.apache.org/confluence/display/MAVEN/MojoFailureException

Basically, we have to review the existence of the class:

import au.com.rsutton.depthcamera.PointCloudUI;

and the existence of the class ParticleFilterStatus

I have just created a PR:
#7

Juan Antonio

[rlsutton1]

Hi @jabrena,

OK, so I've resolved the issues with PointCouldUI and ParticleFilterStatus, they were in the test folder instead of the java folder.

I accidentally committed back the pom.xml with my version of RPLidar, your version seems to be missing the continuous scan method which I had written and used in this project.

You will not be able to run some of the junit tests, this is because I've been a bit lazy and used junit as a convenient way to launch code that interacts with the robot. I would like to change that, but I don't want to create merge conflicts for either of us. I was intending to convert these junits to be launched from the main entry point menu. If you are going to be focusing of the replacement of the Roomba code we shouldn't have any conflicts.

So if its OK with you, I'll find some time to move and refactor these junit tests.

[rlsutton1]

@jabrena,

I've just converted the MapBuilder junit to have a launch option from au.com.rsutton.entryPoint.Main.

[jabrena]

I will test everything tomorrow

Thanks mate

[jabrena]

Hi observed the case with the dependency RPLidar.

I think that you are using a local dependency in that case.
Can you do a pull request to my project to publish a new version with the missing methods?
https://github.com/ev3dev-lang-java/RPLidar4J

I will publish in order to continue with the process.

Juan Antonio