• Pito Salas, November 2018, pitosalas@brandeis.edu

Setup

• Basement space is set up like an office

• We have to update the map to include fake hallways and offices

• Lines will be taped to the floor to indicate the walls

• There will be four "offices", two "hallways", one "lab", and one "reception"

• We will move furniture into the "rooms" but navigation will be based on the

• Map is updated to match the tapes on the floor

• Locations are added to the location table

Demo

1. A package has been delivered to reception

2. The robot is sitting in its charging station

3. Using a computer sitting on his desk, the receptionist summons the robot over

4. When the robot arrives at the receptionist it says: "hello Jo, did you call?"

5. The receptionish gives the robot the package and uses the laptop to send the robot to Jane's office

6. THere are some people chatting and in the way

7. As the robot navigates around them it says, "Excuse me I am delivering a package to Jane's office"

8. Jane accepts the package and the robot starts driving back to its charging station

9. An evil genius picks the robot up and starts walking it to the Evil Genius office.

10. When placed back on the floor the robot realizes that it was kidnapped

11. It recovers by going back into the hall and finding the nearby fiducial

12. It then continues back to the charging station, awaiting it's next mission

13. Along the way the robot sees Alex and says "Hello Alex, how's it going?"

14. The robot comes into the charging station and relaxes until the next mission

Pito Salas

Intro

Basically all the steps we think are needed to get the Fall 208 Demo Script to work. This was gathered by the team and then experimented and revised further by Pito during the post-semester break.

Onboard Laptop Steps:

• SSH into the robot’s onboard laptop (turtlebot@129.64.243.64)

• Start a roscore

• Do a bringup for the onboard laptop: “roslaunch cr_ros campus_rover.launch”

• Wait until the bringup finishes. Look for “Odom received” message

On another machine (needs to be more powerful for this than for the web app)

• Run roslaunch cr_ros offboard_launch.launch

• Wait until the bringup finishes. Look for “Odom received” message

On a third machine

• Install Flask

• Clone cr_web repo

• cd into cr_web

• Make sure to bring up TB2 (with cr_ros), or run a local roscore

• export ROS_MASTERURI=_http://______

• export FLASK_APP=rover_app

• flask run --no-reload --host=0.0.0.0 --with-threads

Note: --host=0.0.0.0 and --with-threads are only needed if other client machines need to access the hosted app.

• Go to localhost:5000/, or replace localhost with the other machine’s IP if you’re accessing it from a client machine. (edited)

Known dependencies:

• aruco_detect (for fiducial_msgs import error)

• pip install face_recognition

• Kobuki docking might be part of the general TB2 install or may need to be separate

On offboard computer

• sudo apt-get install ros-kinetic-moveit-ros-visualization

• make sure that ROS_MASTER_URI=http://129.64.243.64:11311 (or whereever roscore is runnung)