Draw curved lines in Roassal
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Re: Draw curved lines in Roassal
 
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Nice to see Pharo is more and more used in robotics context.
I was doing something similar with Player/Stage before ROS: https://www.youtube.com/watch?v=6hhKzEf_jcw On Sun, May 24, 2015 at 11:45 AM, Alexandre Bergel <[hidden email]> wrote: > Wow! > And it seems to be relatively fast. > Well done! > > Alexandre > > >> On May 22, 2015, at 10:24 PM, Miguel Campusano <[hidden email]> wrote: >> >> Thanks Alex, >> I made a short video with the visualization :) >> >> https://dl.dropboxusercontent.com/u/12478485/laserscan.ogv >> >> On Thu, May 21, 2015 at 9:43 AM Alexandre Bergel <[hidden email]> wrote: >> Hi Miguel, >> >> you can now place the label on the bottom left of an element. >> >> >> <Screen Shot 2015-05-21 at 10.42.50 AM.png> >> view := RTView new. >> view @ RTDraggableView. >> >> >> shape := RTArc new >> innerRadius: [ :i | i *50]; >> externalRadius: [ :i | (i * 50) + 4]; >> >> alphaAngle: 45; >> betaAngle: 135; >> color: Color black. >> elems := shape elementsOn: (1 to: 10). >> view addAll: elems. >> elems @ RTHighlightable. >> >> >> label := RTLabelled new text: #yourself. >> label bottomLeft. >> elems @ label. >> >> view >> >> >>> On May 20, 2015, at 5:51 PM, Miguel Campusano <[hidden email]> wrote: >>> >>> The behavior is still odd. If I change the previous code to 10 visualize ten arcs: >>> >>> view := RTView new. >>> shape := RTArc new >>> innerRadius: [ :i | i *50]; >>> externalRadius: [ :i | (i * 50) + 4]; >>> >>> alphaAngle: 45; >>> betaAngle: 135; >>> color: Color black. >>> elems := shape elementsOn: (1 to: 10). >>> view addAll: elems. >>> >>> label := RTLabelled new text: #yourself. >>> label left. >>> elems @ label. >>> >>> view >>> >>> The result is this:<labels2.png> >>> >>> >>> I think this happens because it is trying to put the label at the left-center of the arc (encompassing rectangle?). There is a way to put it at the left bottom? >>> >>> On Wed, May 20, 2015 at 5:37 PM Alexandre Bergel <[hidden email]> wrote: >>> The label is put on the left of the encompassing rectangle of the arc. >>> It is not always what one wants to achieve, as you demonstrated on your example. >>> >>> Alexandre >>> -- >>> _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: >>> Alexandre Bergel http://www.bergel.eu >>> ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;. >>> >>> >>> >>>> On May 20, 2015, at 4:22 PM, Chris Cunningham <[hidden email]> wrote: >>>> >>>> Looks somewhat odd, still, when you change the angles: >>>> >>>> view := RTView new. >>>> shape := RTArc new >>>> innerRadius: [ :i | i *50]; >>>> externalRadius: [ :i | (i * 50) + 4]; >>>> alphaAngle: 315; >>>> betaAngle: 45; >>>> color: Color black. >>>> elems := shape elementsOn: (1 to: 2). >>>> view addAll: elems. >>>> >>>> label := RTLabelled new text: #yourself. >>>> label left. >>>> elems @ label. >>>> >>>> view >>>> >>>> <image.png> >>>> If you use the angles 270 and 90 (in that order), you get: >>>> <image.png> >>>> >>>> -cbc >>>> >>>> >>>> On Wed, May 20, 2015 at 1:26 PM, Alexandre Bergel <[hidden email]> wrote: >>>> Thanks Milton! I was on this issue, but you were faster than me :-) >>>> >>>> Good job! >>>> Alexandre >>>> -- >>>> _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: >>>> Alexandre Bergel http://www.bergel.eu >>>> ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;. >>>> >>>> >>>> >>>>> On May 20, 2015, at 3:18 PM, milton mamani <[hidden email]> wrote: >>>>> >>>>> Hi >>>>> >>>>> There was a problem in #encompassingRectangle in TRArcShape, try again with the last version of Roassal >>>>> >>>>> <image.png> >>>>> >>>>> Cheers, >>>>> Milton >>>>> >>>>> >>>>> 2015-05-20 13:51 GMT-04:00 Miguel Campusano <[hidden email]>: >>>>> Following this, I tried to add labels to the arcs but It is not working as I expected. My code: >>>>> >>>>> view := RTView new. >>>>> shape := RTArc new >>>>> innerRadius: [ :i | i *50]; >>>>> externalRadius: [ :i | (i * 50) + 4]; >>>>> alphaAngle: 45; >>>>> betaAngle: 135; >>>>> color: Color black. >>>>> elems := shape elementsOn: (1 to: 2). >>>>> view addAll: elems. >>>>> >>>>> label := RTLabelled new text: #yourself. >>>>> label left. >>>>> elems @ label. >>>>> >>>>> view >>>>> >>>>> and the results is the attached image.<labels.png> >>>>> >>>>> I want the labels to be at the left of the arc line. Maybe I'm doing something wrong? any ideas? >>>>> >>>>> Bests, >>>>> Miguel >>>>> >>>>> >>>>> On Mon, May 18, 2015 at 5:02 PM Miguel Campusano <[hidden email]> wrote: >>>>> I want to add labels first, after that I'm going to publish a video. :) >>>>> >>>>> >>>>> On Mon, May 18, 2015 at 4:52 PM Tudor Girba <[hidden email]> wrote: >>>>> Nice :) >>>>> >>>>> Could you send a video? :) >>>>> >>>>> Doru >>>>> >>>>> On Mon, May 18, 2015 at 8:56 PM, Miguel Campusano <[hidden email]> wrote: >>>>> Here is the screenshot, it is a visualization from the data captured from a laser scan sensor from a robot. >>>>> The visualization shows an object with the red line and a grid to understand quickly the position of the object within the range of the sensor (This case, the object is approximately in the center between 2 to 4 meters from the robot) . The visualization is dynamic, ie: the red line is automatically updated overtime ;) >>>>> <laserscan.png> >>>>> >>>>> >>>>> On Fri, May 15, 2015 at 12:33 PM Alexandre Bergel <[hidden email]> wrote: >>>>> Ok, let us know! And send us screenshots :-) >>>>> >>>>> Alexandre >>>>> -- >>>>> _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: >>>>> Alexandre Bergel http://www.bergel.eu >>>>> ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;. >>>>> >>>>> >>>>> >>>>>> On May 15, 2015, at 10:56 AM, Miguel Campusano <[hidden email]> wrote: >>>>>> >>>>>> Thanks! >>>>>> Both seem to work fine, I'm going to play a bit before deciding for one :) >>>>>> >>>>>> On Thu, May 14, 2015 at 5:44 PM Peter Uhnák <[hidden email]> wrote: >>>>>> You can also use bezier lines or SVG >>>>>> >>>>>> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ >>>>>> | v e1 e2 l s p1 p2 path svg| >>>>>> v := RTView new. >>>>>> >>>>>> path := 'M -150 150 Q -75 150 -75 75 Q -75 0 0 0'. >>>>>> svg := RTSVGPath new borderColor: Color red; path: path; element. >>>>>> v add: svg. >>>>>> >>>>>> ^ v >>>>>> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ >>>>>> >>>>>> Peter >>>>>> >>>>>> On Thu, May 14, 2015 at 10:36 PM, milton mamani <[hidden email]> wrote: >>>>>> Try with RTArc: >>>>>> >>>>>> view := RTView new. >>>>>> shape := RTArc new >>>>>> innerRadius: [ :i | i *15]; >>>>>> externalRadius: [ :i | (i * 15) + 4]; >>>>>> alphaAngle: 45; >>>>>> betaAngle: 135; >>>>>> color: Color black. >>>>>> view addAll: (shape elementsOn: (1 to: 11) ). >>>>>> >>>>>> view >>>>>> >>>>>> Cheers, >>>>>> Milton >>>>>> >>>>>> 2015-05-14 16:26 GMT-04:00 Miguel Campusano <[hidden email]>: >>>>>> Hi all, >>>>>> I want to draw curved lines in Roassal but I can't find how to. >>>>>> The image below is an example of what I am trying to do. >>>>>> >>>>>> http://www.aboutbookbinding.com/images/Lines-made-with-Gouges.jpg >>>>>> >>>>>> Bests, >>>>>> Miguel >>>>>> >>>>>> _______________________________________________ >>>>>> Moose-dev mailing list >>>>>> [hidden email] >>>>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>>>> >>>>>> >>>>>> >>>>>> _______________________________________________ >>>>>> Moose-dev mailing list >>>>>> [hidden email] >>>>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>>>> >>>>>> >>>>>> _______________________________________________ >>>>>> Moose-dev mailing list >>>>>> [hidden email] >>>>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>>>> _______________________________________________ >>>>>> Moose-dev mailing list >>>>>> [hidden email] >>>>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>>> >>>>> _______________________________________________ >>>>> Moose-dev mailing list >>>>> [hidden email] >>>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>>> >>>>> _______________________________________________ >>>>> Moose-dev mailing list >>>>> [hidden email] >>>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>>> >>>>> >>>>> >>>>> >>>>> -- >>>>> www.tudorgirba.com >>>>> >>>>> "Every thing has its own flow" >>>>> _______________________________________________ >>>>> Moose-dev mailing list >>>>> [hidden email] >>>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>>> >>>>> _______________________________________________ >>>>> Moose-dev mailing list >>>>> [hidden email] >>>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>>> >>>>> >>>>> _______________________________________________ >>>>> Moose-dev mailing list >>>>> [hidden email] >>>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>> >>>> >>>> _______________________________________________ >>>> Moose-dev mailing list >>>> [hidden email] >>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>>> >>>> >>>> _______________________________________________ >>>> Moose-dev mailing list >>>> [hidden email] >>>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>> _______________________________________________ >>> Moose-dev mailing list >>> [hidden email] >>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >>> _______________________________________________ >>> Moose-dev mailing list >>> [hidden email] >>> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >> >> -- >> _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: >> Alexandre Bergel http://www.bergel.eu >> ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;. >> >> >> >> _______________________________________________ >> Moose-dev mailing list >> [hidden email] >> https://www.iam.unibe.ch/mailman/listinfo/moose-dev >> <Screen Shot 2015-05-21 at 10.42.50 AM.png>_______________________________________________ >> Moose-dev mailing list >> [hidden email] >> https://www.iam.unibe.ch/mailman/listinfo/moose-dev > > -- > _,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;: > Alexandre Bergel http://www.bergel.eu > ^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;._,.;:~^~:;. > > > > > _______________________________________________ > Moose-dev mailing list > [hidden email] > https://www.iam.unibe.ch/mailman/listinfo/moose-dev -- Serge Stinckwich UCBN & UMI UMMISCO 209 (IRD/UPMC) Every DSL ends up being Smalltalk http://www.doesnotunderstand.org/ _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
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In reply to this post by Tudor Girba-2
---> Save our in-boxes! http://emailcharter.org <---
Johan Fabry - http://pleiad.cl/~jfabry PLEIAD lab - Computer Science Department (DCC) - University of Chile _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
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In reply to this post by SergeStinckwich
Very nice, and the simulation actually looks cute :-) Did the laser scan there give you various different scan intervals and that’s why you see the different triangles on the simulation? > On May 24, 2015, at 09:25, Serge Stinckwich <[hidden email]> wrote: > > Nice to see Pharo is more and more used in robotics context. > I was doing something similar with Player/Stage before ROS: > https://www.youtube.com/watch?v=6hhKzEf_jcw > ---> Save our in-boxes! http://emailcharter.org <--- Johan Fabry - http://pleiad.cl/~jfabry PLEIAD lab - Computer Science Department (DCC) - University of Chile _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
Re: Draw curved lines in Roassal
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On Sun, May 24, 2015 at 3:33 PM, Johan Fabry <[hidden email]> wrote:
> > Very nice, and the simulation actually looks cute :-) > Did the laser scan there give you various different scan intervals and that’s why you see the different triangles on the simulation? I was using Player/Stage simulation engine: http://playerstage.sourceforge.net/ and connecting to the simulation from Pharo. The main problem was that the protocol was a little bit cryptic and I have to look at the data exchanged between Player/Stage and other client in order to understand how it works ... really annoying. The code is always available here: https://github.com/SergeStinckwich/PlayerST I guess we can do something similar now with MORSE or other ROS simulation engine. This is not laser scan but sonar scan. Triangles are the way sonar scans are represented by Player Stage. Cheers, -- Serge Stinckwich UCBN & UMI UMMISCO 209 (IRD/UPMC) Every DSL ends up being Smalltalk http://www.doesnotunderstand.org/ _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
Re: Draw curved lines in Roassal
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In reply to this post by jfabry
Yes very nice viz but why not reusing existing ros viz like rviz
http://wiki.ros.org/rviz ? On Sun, May 24, 2015 at 3:31 PM, Johan Fabry <[hidden email]> wrote: > > Yes, it looks very cool :-) I can’t wait to see it in action on more complex > scenarios :-P > > On May 24, 2015, at 08:53, Tudor Girba <[hidden email]> wrote: > > Wow, indeed. This is impressive. > > Keep it up. > > Cheers, > Doru > > > > On Sun, May 24, 2015 at 11:45 AM, Alexandre Bergel <[hidden email]> > wrote: >> >> Wow! >> And it seems to be relatively fast. >> Well done! >> >> Alexandre >> >> >> > On May 22, 2015, at 10:24 PM, Miguel Campusano <[hidden email]> >> > wrote: >> > >> > Thanks Alex, >> > I made a short video with the visualization :) >> > >> > https://dl.dropboxusercontent.com/u/12478485/laserscan.ogv > > > > > ---> Save our in-boxes! http://emailcharter.org <--- > > Johan Fabry - http://pleiad.cl/~jfabry > PLEIAD lab - Computer Science Department (DCC) - University of Chile > > > _______________________________________________ > Moose-dev mailing list > [hidden email] > https://www.iam.unibe.ch/mailman/listinfo/moose-dev > -- Serge Stinckwich UCBN & UMI UMMISCO 209 (IRD/UPMC) Every DSL ends up being Smalltalk http://www.doesnotunderstand.org/ _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
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In reply to this post by SergeStinckwich
> On May 24, 2015, at 10:40, Serge Stinckwich <[hidden email]> wrote: > > The main problem was that the protocol was a little bit cryptic and I > have to look at the data exchanged between Player/Stage and other > client in order to understand how it works ... really annoying. Oh, yes that must have been unpleasant :-( > The code is always available here: https://github.com/SergeStinckwich/PlayerST > > I guess we can do something similar now with MORSE or other ROS > simulation engine. Yes, we are now doing this with ROS (PhaROS) and Gazebo. I never looked at MORSE actually, do you prefer to use it over Gazebo. Also, are you going to ESUG? We should have a chat... > This is not laser scan but sonar scan. Triangles are the way sonar > scans are represented by Player Stage. Ah OK I misunderstood. It could be interesting to do some visualization of sonar scans as well, maybe we will add it to the TODO list. ---> Save our in-boxes! http://emailcharter.org <--- Johan Fabry - http://pleiad.cl/~jfabry PLEIAD lab - Computer Science Department (DCC) - University of Chile _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
Re: Draw curved lines in Roassal
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In reply to this post by SergeStinckwich
Rviz is a good visualization, but it focuses on a representing the data in a 3d environment. Rviz, in my experience, represents the interactions of the robot (with its sensors) in the environment, you can draw maps and do a lot of things. However, rviz does not provide access to the data itself. Long history short, while I can see there is an object with the laser scan at a certain distance, I can not see the actual distance of the object. Sometimes we want more info about the data to see what values are best suited to use in our programs.On Sun, May 24, 2015 at 10:45 AM Serge Stinckwich <[hidden email]> wrote: Yes very nice viz but why not reusing existing ros viz like rviz _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
Re: Draw curved lines in Roassal
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On Mon, May 25, 2015 at 4:48 PM, Miguel Campusano
<[hidden email]> wrote: > Rviz is a good visualization, but it focuses on a representing the data in a > 3d environment. Rviz, in my experience, represents the interactions of the > robot (with its sensors) in the environment, you can draw maps and do a lot > of things. rviz is not only for 3D but also for 2D viz. Look at this video for example: http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack > However, rviz does not provide access to the data itself. Long history > short, while I can see there is an object with the laser scan at a certain > distance, I can not see the actual distance of the object. Sometimes we want > more info about the data to see what values are best suited to use in our > programs. Yes, you are right rviz does not provide access to the data and is quite difficult to customize to specific needs. You have to write plugins in order to add more visualisations. Having a robotic data viz engine that could be extended with ROASSAL scripting could be nice. This is what you are trying to do ? -- Serge Stinckwich UCBN & UMI UMMISCO 209 (IRD/UPMC) Every DSL ends up being Smalltalk http://www.doesnotunderstand.org/ _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
Re: Draw curved lines in Roassal
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In reply to this post by jfabry
On Sun, May 24, 2015 at 3:50 PM, Johan Fabry <[hidden email]> wrote:
> >> On May 24, 2015, at 10:40, Serge Stinckwich <[hidden email]> wrote: >> >> The main problem was that the protocol was a little bit cryptic and I >> have to look at the data exchanged between Player/Stage and other >> client in order to understand how it works ... really annoying. > > Oh, yes that must have been unpleasant :-( At that time, there was no ROS ;-) >> The code is always available here: https://github.com/SergeStinckwich/PlayerST >> >> I guess we can do something similar now with MORSE or other ROS >> simulation engine. > > Yes, we are now doing this with ROS (PhaROS) and Gazebo. I never looked at MORSE actually, do you prefer to use it over Gazebo. MORSE is more complex than GAZEBO, because based on Blender. Easier to customize than GAZEBO because written in Python. > Also, are you going to ESUG? We should have a chat... Yes, I'm currently registering. >> This is not laser scan but sonar scan. Triangles are the way sonar >> scans are represented by Player Stage. > > Ah OK I misunderstood. It could be interesting to do some visualization of sonar scans as well, maybe we will add it to the TODO list. :-) -- Serge Stinckwich UCBN & UMI UMMISCO 209 (IRD/UPMC) Every DSL ends up being Smalltalk http://www.doesnotunderstand.org/ _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
Re: Draw curved lines in Roassal
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In reply to this post by SergeStinckwich
On Tue, May 26, 2015 at 6:35 AM Serge Stinckwich <[hidden email]> wrote: On Mon, May 25, 2015 at 4:48 PM, Miguel Campusano Right, I have seen that a long time ago but I forgot it :( . But still it holds the idea that rviz focuses on representing the data in the environment (drawing the map for example) rather than the data itself (in a point of time, what was the distance between the robot and the nearest wall)
Yes, you can represent the data in the visualization, but still with rviz I can't see how you can have direct access to the data from the visualization. At least, I can't see how you can do something like we did we the laser scan in rviz -showing information about the area of detection and other things we have in mind ;)- Having a robotic data viz engine that could be extended with ROASSAL Our main focus is, for every different sensor, understand the data separately and use that data in algorithms and programs in a live programming context. For example, for us, having the distance of an object with the laser scan has a great value because we can determine the best suited distance to take different actions. After the actions are implemented, you can see with the visualization if the actions are being done at the right moment. But I can not denied that having a robotic data viz engine extensible with roassal scripting would be cool. _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
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In reply to this post by Peter Uhnak
Le 14/5/15 22:43, Peter Uhnák a écrit :
I do not understand why roassal still has SVG path in its model. this code should be | v e1 e2 l s p1 p2 path svg|
v := RTView new.
path := 'M -150
150 Q -75 150 -75 75 Q -75 0 0 0'.
arc := RTSVGPathImporter new path: path.
arc borderColor: Color red; path: path. To me having svg inside the Roassal domain. Stef
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On Tue, Jun 2, 2015 at 9:58 PM, stepharo <[hidden email]> wrote:
This is not particularly friendly to change; if I want to modify or update it after it has been create it wouldn't be possible. (Not that Roassal is keen to such changes but I can at least force it.) Also, what is the actual benefit of having an importer? Peter _______________________________________________ Moose-dev mailing list [hidden email] https://www.iam.unibe.ch/mailman/listinfo/moose-dev |
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