I’m the lead programmer (and co-captain) of the Technocrats (#2239)
I’m totally new to Chief Delphi, so please let me know if there’s any way I can improve my post.
This is our first year doing vision tracking. We recently bought a Kangaroo Plus computer. It did not come with Windows installed, so we installed Ubuntu onto it.
Right now we’ve got GRIP running our vision processing code on the kangaroo, but we’re having trouble getting the values from NetworkTables.
I’ve read this PDF on how to use the Kangaroo and GRIP, but it still doesn’t make much sense to me.
So far, we’ve tried connecting it to the radio via a USB to Ethernet adapter, but no “GRIP” folder shows up when using the OutlineViewer on 10.22.39.2 in client mode (the FIRST site with the tips we tried to follow).
How do I connect the Kangaroo to the robot so that I can see/use the values GRIP is getting? Are there settings in GRIP I need to change to get them to show up?
You need to run GRIP and use an NTPublish* step to get values onto networktables. You also need to go to GRIP settings and set the team number (this will also set the networktables server address). If the kangaroo has trouble resolving roborio-2239-frc.local, you can set the address to 10.22.39.2 if you’ve configured the roborio to use a static IP (which you should be doing anyway).
*NTPublish ContoursReport, NTPublish BlobsReport, etc.
We tried it, but those particular settings didn’t work for us.
What did end up working was ipconfig on our Windows computer and ifconfig on the Ubuntu kangaroo, then typing the inet address for the Ubuntu computer into the OutlineViewer and ran it on server.
Then, we went to GRIP and did tools>>settings and edited both of the publish/deploy values to be the IPV4 value from our Windows computer’s ipconfig. Then, the values showed up!
I’d also like to mention that we were also able to get the values from the roboRIO as well by switching the numbers back to roboRIO-####-FRC.local (the address shown for the roboRIO in the roboRIO dashboard).
At first when we were trying to get the values from the roboRIO, we used the code from here but this caused the code deploy to say it was successful while the dashboard said there was no robot code.
Apparently, the “while (true)” loop in that code will cause that to happen; as soon as we deleted it, the dashboard agreed that we had code deployed.
Hopefully this will help anyone who runs into the same issue.