Week 3

WEEK 3

Color Filter Exercise

With WebRtc

• I have adjusted the RADI (Robotics Academy Docker Image) for the exercise to communicate with the docker:
  • As a websocket is necessary for communication with webrtc, a new port has to be exposed in the docker, so that it is visible from outside. This is done by adding in the dockerfile:

      EXPOSE <port>
    

  • It is also necessary to update the manager.py indicating the instructions for this exercise
• Example video using WebRtc

With Ros Node

• I have used a ros node that is responsible for publishing the frames obtained by the camera. And on the other hand, there is a consumer, who is in charge of collecting these frames and sending them to the browser via wesocket, so that it displays them.
• I have also been exploring how to allow a docker to have access to the usb ports of the computer. This is possible by launching the following command when starting the container:

    docker run -t -i  –privileged -v /dev/:/dev/ [nombre_contenedor] 
  

• Next steps to take:
  • Connect with the infrastructure of the exercise. Right now you only have the reading of images.
  • Be able to run within the RADI

• Example video of this first approach

• References:
  • https://automaticaddison.com/working-with-ros-and-opencv-in-ros-noetic/
  • http://wiki.ros.org/video_stream_opencv
  • http://wiki.ros.org/catkin/Tutorials/create_a_workspace

Unibotics

• I have delved into understanding the architecture and code of Unibotics.