andrejpan / gazebo_bremen

gazebo_bremen

Before runing projects below you must run set up Tobii EyeX Traceker

Project: gazebo_eye_tracker

Program detects which objects are you looking inside Gazebo simulator and logs it.

Prerequisites

For logging purpose we use Mongodb tehnology. On Ubuntu you can install server through package manager. For client side we use mongodb-cxx-client, 26compat branch. Our installed instructure looks like this:

$ scons --prefix=$HOME/mongo-client-install-26compat --sharedclient --full --use-system-boost install-mongoclient

Update path to mongodb-cxx-client inside CMakeLists.txt.

If you want to run kitchen.world you must download models and update GAZEBO_MODEL_PATH.

Inside EyeTracker.hh you must set up server ip and port number.

Usage

$ mkdir build && cd build
$ cmake ..
$ make

Run

$ gazebo -u --verbose worlds/kitchen.world

After you start simulation, you will see small spheres which detects objects that you currently looking.

Data is also logged when simulation is running.

Project eye_tracker_legacy

Is the same project as one above, but it is ussing Mongodb legacy driver.

Compiling instruction:

$ scons --prefix=$HOME/mongo-client-install --sharedclient --c++11=on install 

Project: gazebo_ogre_sphere

Program draws red sphere inside XY plane. The sphere is drawn at same position where we are looking a screen.

Usage

$ mkdir build && cd build
$ cmake ..
$ make

Run

$ gazebo -u --verbose worlds/special_kamera_view.world

Project: see_first_object

Program draws red sphere at the object which it is seen first.

Usage

$ mkdir build && cd build
$ cmake ..
$ make

Run

$ gazebo -u --verbose worlds/client1.world