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Sunday, September 25, 2011

Arduino and ROS

Hi all

      Here i interfacing ROS Electric with arduino .

ROS Electric Installation procedure in Ubuntu

After installing ROS Electric ,follow this procedure...
1)For Working with Arduino ,we have to load some programs  to Arduino .There is a library in ROS for arduino .After installation of ROS Electric you have to copy ros_lib from the ros folder to Arduino library folder.After that you have to load one sample program from the ros_lib.Here i upload a "hello world" program .

2)After uploading we have to load ROS commands
Thank you for watching......
For new arduino version > 1.0 ,we must edit ArduinoHardware.h inside roslib. Replace Wprogram.h into Arduino.h

How to Install ROS in Ubuntu

Hi all

ROS-Electric Installation procedure

Ubuntu 10.04 (Lucid)

  sudo sh -c 'echo "deb lucid  main" > /etc/apt/sources.list.d/ros-latest.list'

Ubuntu 10.10 (Maverick)

sudo sh -c 'echo "deb maverick  > main" > /etc/apt/sources.list.d/ros-latest.list'

Ubuntu 11.04 (Natty)

sudo sh -c 'echo "deb natty  main" >  /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

wget -O - | sudo apt-key add -


Make sure you have re-indexed the server:

sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS stacks individually.

Desktop-Full Install: (Recommended): ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

sudo apt-get install ros-electric-desktop-full

Desktop Install: ROS, rx, rviz, and robot-generic libraries

sudo apt-get install ros-electric-desktop

ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

sudo apt-get install ros-electric-ros-base

Individual Stack: You can also install a specific ROS stack (replace underscores with dashes of the stack name):

sudo apt-get install ros-electric-STACK

sudo apt-get install ros-electric-slam-gmapping

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:

echo "source /opt/ros/electric/setup.bash" >> ~/.bashrc
. ~/.bashrc

If you have more  than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type:

source /opt/ros/electric/setup.bash

Check this link for more info

PyQT Tutorial:Introduction

Hi all

        PyQT is an easier way of creating User Interface .It has a power of both  Python and Qt.

What is Python
  • A high level Programming language 
  • An Object Oriented Programming Language
  • A scripting Language

  • Qt is a cross platform application framework for GUI Development
  • Qt stands for Qroll Tech.It is founded by Qroll Tech  now owned by Nokia

How PyQT Works

      Qt is used to make the User Interface file (.ui) .After making the user interface file(ui) ,converting it into equivalent python code .The code is generated using pyuic compiler .After modification some modification ,we can run the python code file ,

Requirements in Linux(Ubuntu )
  • Qt 4 Designer or  Qt4 Creator
  • python-qt4 : Python bindings for Qt4
  • pyqt-tools : pyuic and pylupdate for Qt3

Example demo 

1)Hello World Program using PyQt

Thank You for watching...

Wednesday, September 21, 2011

ROS and Urbi...

Hi all

      ROS and URBI are the two opensource platform Robotic libraries .
ROS =Robotic Operating System
URBI =Universal Real Time Interface


         ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more.

Check this  link for more details


       Urbi is an open-source software platform to control robots or complex systems in general. It includes a C++ component library called UObject that comes with a robot standard API to describe motors, sensors and algorithms. Next to UObject, you can use the urbiscript orchestration script language to glue the components together and describe high level behaviors, a bit like python or LUA, but with embedded parallel and event-driven semantics to make the job easier.
The goal of Urbi is to help making robots compatible, and simplify the process of writing programs and behaviors for those robots. The range of potential applications of Urbi goes beyond robotics, since it has been successfully used in generic complex systems, where parallel and event-driven orchestration on multiple agents is the rule.
The latest versions of Urbi 2.x integrate support for Willow Garage's ROS. You can now use both systems together and benefit from the best of both worlds!
Urbi is open-source with an GNU AGPLv3 license. You can go to the Downloads section to get Urbi source code.
For more details check this link

Sunday, September 18, 2011

How to program Kinect Sensor using Python in Ubuntu Linux

Hi all

        This post is dedicated to Kinect Lovers .Kinect is a motion sensing input device by Microsoft for XBOX360 Game Console .The sensor consist of infrared camera and array of mic .We can use this sensor for Image processing  .I will show how to access data from Kinect Sensor .The platform is Linux and we can do programming in following Languages

  • Python 
  • C
  • C++
  • Actionscript
  • C#
  • Java
  • JavaScript
  • Common Lisp

I am choosing python ,because it is very easy to  program in python .


OpenKinect is an open community of people interested in making use of the amazing Xbox Kinect hardware with our PCs and other devices. We are working on free, open source libraries that will enable the Kinect to be used with Windows, Linux, and Mac.
The OpenKinect community consists of over 2000 members contributing their time and code to the Project. Our members have joined this Project with the mission of creating the best possible suite of applications for the Kinect. OpenKinect is a true "open source" community!
Our primary focus is currently the libfreenect software. Code contributed to OpenKinect where possible is made available under an Apache20 or optional GPL2 license.
For more Information you can refer this Link

Installation of OpenKinect

1)Download Source code is available here:   
2)Extract the contents and take terminal in that path.
3)Type cmake .
5)sudo make install
6)Install python wrapper Its in the wrappers/python folder
7)Type sudo python install

Friday, September 9, 2011

Python Programming Tutorial Part 3:Hello World

Hi all

             We can start programming using  Python .I am running python in Ubuntu 10.04 and using version python 2.6.5 . We can start with "hello world program" .You can either use interpreter or can write source code with extension .py .The standard way of programming is writing code .I am demonstrating the source code here.

Hello World using Python

Take a text editor and type this code and save it with some filename ,for eg 

#!/usr/bin/env python
print "Hello World"
After saving the file ,Take terminal in the following file-path,type the following command to execute
The Output will look like this
Hello World

Python Tutorial Part 2:How to install Python

Python is a cross-platform compatible language .We can install Python in Windows ,Linux and MacOSX .The download link for each platform is given Below

For Windows ,Linux and MacOSX

For  Windows ,we need to download the installer separately .For GNU/Linux such as Ubuntu,Debian and MacOSX have pre-installed Python .

Python can be  programmed in two ways ,It has an interpreter and also we can program  via writing source with extention ".py" .

Python command Interpreter

IDLE Python:GUI of Interpreter

Python Programming Tutorial Part 1 : What is Python??

Python is a general purpose high level language ,its an Object oriented Programming Language .It is very powerful and also simple  .Python  features are ,it is fully dynamic and has automatic memory management .The library of Python language is very huge . 
               Python is a scripting language like Perl,Ruby,Scheme etc..The main reasons why programmers selected python because of the following reason

Software quality
    For many, Python’s focus on readability, coherence, and software quality in gen-
    eral sets it apart from other tools in the scripting world. Python code is designed
    to be readable, and hence, reusable and maintainable—much more so than tra-
    ditional scripting languages. The uniformity of Python code makes it easy to
    understand, even if you did not write it. In addition, Python has deep support
    for more advanced software reuse mechanisms, such as object-oriented program-
    ming (OOP).
Developer productivity
    Python boosts developer productivity many times beyond compiled or statically
    typed languages such as C, C++, and Java. Python code is typically one-third to
    one-fifth the size of equivalent C++ or Java code. That means there is less to
    type, less to debug, and less to maintain after the fact. Python programs also run
    immediately, without the lengthy compile and link steps of some other tools,
    further boosting programmer speed.

Program portability
    Most Python programs run unchanged on all major computer platforms. Port-
    ing Python code between Linux and Windows, for example, is usually just a
    matter of copying a script’s code between machines. Moreover, Python offers
    multiple options for coding portable graphical user interfaces, database access
    programs, web-based systems, and more. Even operating system interfaces,
    including program launches and directory processing, are as portable in Python
    as they can possibly be.

Support libraries
    Python comes with a large collection of prebuilt and portable functionality,
    known as the standard library. This library supports an array of application-level
    programming tasks, from text pattern matching to network scripting. In addition,
    Python can be extended with both homegrown libraries and a vast collection of
    third-party application support software. Python’s third-party domain offers tools
    for web site construction, numeric programming, serial port access, game devel-
    opment, and much more. The NumPy extension, for instance, has been
    described as a free and more powerful equivalent to the Matlab numeric pro-
    gramming system.

Component integration
    Python scripts can easily communicate with other parts of an application, using
    a variety of integration mechanisms. Such integrations allow Python to be used
    as a product customization and extension tool. Today, Python code can invoke
    C and C++ libraries, can be called from C and C++ programs, can integrate with
    Java components, can communicate over frameworks such as COM and .NET,
    and can interact over networks with interfaces like SOAP, XML-RPC, and
    CORBA. It is not a standalone tool.

    Because of Python’s ease of use and built-in toolset, it can make the act of
    programming more pleasure than chore. Although this may be an intangible
    benefit, its effect on productivity is an important asset.

From this reason ,the developer productivity is the important one .Python saves  a good amount of time for coding .

What  is the Downside of Python

 The main drawback of Python when compared with C and C++ is its execution speed . Python is not creating executable ,instead it create a intermediate code called byte code .This byte code is slower than the compiled C or C++ executables..

Who Uses Python Today??

1) Google makes extensive use of Python in its web search system, and employs  Python’s creator.

 2)The YouTube video sharing service is largely written in Python.

 3)The popular BitTorrent peer-to-peer file sharing system is a Python program.

 4)Intel, Cisco, Hewlett-Packard, Seagate, Qualcomm, and IBM use Python for  hardware testing.

 5)Industrial Light & Magic, Pixar, and others use Python in the production of  movie animation.

 6)JPMorgan Chase, UBS, Getco, and Citadel apply Python for financial market forecasting.

7)NASA, Los Alamos, Fermilab, JPL, and others use Python for scientific programming tasks.

 8)iRobot uses Python to develop commercial robotic vacuum cleaners.

 9)ESRI uses Python as an end-user customization tool for its popular GIS mapping  products.

 10)The NSA uses Python for cryptography and intelligence analysis.

 11)The IronPort email server product uses more than 1 million lines of Python code   to do its job.

 12)The One Laptop Per Child (OLPC) project builds its user interface and activity  model in Python.

What Can I do with Python??

  • System Programming
  • GUI
  • Internet Scripting
  • DataBase Programming
  • Numeric and Scientific Programming
  • Gaming,AI,XML,Robots

Sunday, September 4, 2011

Linux Kernel site hacked!!!

Hi all

          I  got a news saying that linux kernal  main site  is hacked by an unknown intruder .
The main server is called "hera" .It contain different kernel version and lots of kernel developers are accessing this site .The intruder cracked the root acess but he couldnot change the source code .

                   Anyway  the kernel code is safe .The kernel code  is protected by git repositry .The cracking of git is very difficult .

How to Remove the Blogger Banner??

Hi all

      Blogger banner is situated on the top of the blog .Some people donot like this banner ,for that we can remove the blogger banner .The steps to remove the banner is given below

1)Login and take the blogger home page

2)Take Design tab and take Edit  HTML 

3)Locate  portion show below from the HTML source

Blogger Template Style
Name:     Rounders
Designer: Douglas Bowman
Date:     27 Feb 2004
Updated by: Blogger Team
----------------------------------------------- */
4)Insert the script at the bottom of this text

#navbar-iframe {
   display: none !important;

5)Save template.Done.
6)Take the blog again .Banner willnot be there