ITF Demo Guide

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Description

This page will guide you in getting the components of the demo we gave to the ITF visitors up and running. I can't test it without wiping the laptop we use for our iRobot, so in true open source robotics style some parts may not work for you. I will also try to include some empty 'to be written' sections as well as some dead links and / or links to deprecated dependencies.

[b]I still need to push updates for this, don't try it out yet![/b]

Prerequisites

This page has the following prerequisites:

  • An iRobot with the Serial-2-USB cable
  • A system with Ubuntu 12.04 to connect to the iRobot
  • Much patience and perseverence

Contents

To be added at a later stage. See http://deprecated.ros.org/ITF_Bot.php for details. Just kidding, read on.

A lot of the commands given here end with a & character so that you don't have to open a new terminal window. In practice, some processes output a lot of text, so feel free to open separate terminal windows for the chatty ones, it's up to you.

Install ROS Hydro

Install ros-hydro-desktop-full, instructions are here: http://wiki.ros.org/hydro/Installation/Ubuntu

Install sound_play

Sound_play is needed for the system to output speech. To install it, enter the following commands:

sudo rosdep init
rosdep update
rosdep install sound_play
rosmake sound_play

Clone the repo

Clone the repo for this project. Right now it's a private repo for....various reasons, so if you want access contact alex.van.der.peet@gmail.com and he'll add you. Chances are if you're reading this you have him on your Skype already.

git clone https://github.com/Alex-van-der-Peet/CogBot.git ~/CogBot

Get the iRobot Create driver

cd ~/CogBot/catkin_cogbot/src
svn co https://brown-ros-pkg.googlecode.com/svn/trunk/distribution/brown_drivers
cd brown_drivers
rosmake

Build it all

cd ~/CogBot/catkin_cogbot
catkin_make

Launch Megahal

cd ~/CogBot/megahal
./megahal-server.pl &

Launch roscore

roscore &

Launch iRobot Create driver

sudo chmod 777 /dev/ttyUSB0
cd ~/CogBot/catkin_cogbot/
rosrun irobotcreate_2_1 driver.py &

Launch gspeech

rosrun cogbot gspeech.py &

Launch sound_play

rosrun sound_play soundplay_node.py

Launch ITF Demo

rosrun cogbot ITFDemo.py &

Set Java compile time CLASSPATH

export CLASSPATH=~/CogBot/ramona/ProgramD/JavaSource/net/novamente/util:~/CogBot/ProgramD/distrib/programd-main.jar

Build ProgramD sample

cd ~/CogBot/ProgramD
javac Sample.java

Edit ProgramD shell script

We should probably improve this so you don't have to do this, but for now, edit the runSample.sh file so the paths are correct, ~ doesn't work.

Replace all occurrences of /home/cogbot with /home/yourusername

Run ProgramD sample

cd ~/CogBot/ProgramD
./runSample.sh

Things that may or may not work now

Voice control

Try commands like 'move forward', 'rotate right' or 'abort abort' to control the robot. Try 'start follow' and 'stop follow' to start the Kinect follow procedure

Chatbot

Ask questions such as 'How many people live in Hong Kong' and wait for a bit to hear it come back with '7,005,302' or some such number. Some questions will get processed by MegaHal, giving funny / random responses. Others will be handled by the rules in ProgramD or the query system of OpenEphyra.

Next Steps

There are no next steps. It ends here.

Q&A

Any questions?

Try Google.