Screenshorts of Robot Cell Simulator, June of 2000
First two pictures are robot cell simulation server (drop me a line if you cannot download it, it's free), written with OpenGL, both CORBA and Berkely Socket Library interfaces, it's a part of distributed over network control system. It allows multiple client interfaces for connection : C/C++ socket interface, TCL/TK socket interface, TCL/TK CORBA and C++ CORBA( sure, could be other languages should they support sockets or CORBA). Server allows commands like Joint or RPY movements, changing grippers, any views of robot (rotation, translation and scaling of scene ) and other stuff. For better performance simulation server consists of two parts - GL server and CORBA server. The last one is working pending - to allow connections from simple socket clients. I used IPC message queue to connect GL server to CORBA server (that was the only choice to make it work on SGI IRIX, reason : different compilers for GL and Mico CORBA distro, on Linux there are no such problems).
The following is an interface written with Expectk to start multiple CORBA servers of multi agent distributed over the Internet control system. It allows such operations like starting/stopping agents and monitoring.
Next one is a TCL/TK client for robot simulation server. It's connected to robot server through socket library.
