ITF Demo Guide
- 1 Description
- 2 Prerequisites
- 3 Contents
- 3.1 Install ROS Hydro
- 3.2 Install sound_play
- 3.3 Clone the repo
- 3.4 Get the iRobot Create driver
- 3.5 Build it all
- 3.6 Launch Megahal
- 3.7 Launch roscore
- 3.8 Launch iRobot Create driver
- 3.9 Launch gspeech
- 3.10 Launch sound_play
- 3.11 Launch ITF Demo
- 3.12 Set Java compile time CLASSPATH
- 3.13 Build ProgramD sample
- 3.14 Edit ProgramD shell script
- 3.15 Run ProgramD sample
- 3.16 Things that may or may not work now
- 4 Next Steps
- 5 Q&A
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]
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
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
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 firstname.lastname@example.org 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
cd ~/CogBot/megahal ./megahal-server.pl &
Launch iRobot Create driver
sudo chmod 777 /dev/ttyUSB0 cd ~/CogBot/catkin_cogbot/ rosrun irobotcreate_2_1 driver.py &
rosrun cogbot gspeech.py &
rosrun sound_play soundplay_node.py
Launch ITF Demo
rosrun cogbot ITFDemo.py &
Set Java compile time CLASSPATH
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
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
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.
There are no next steps. It ends here.
- Try Google.