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demo-script-fall-2018.md

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

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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

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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

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Pito Salas

When the robot arrives at the receptionist it says: "hello Jo, did you call?"
  • The receptionish gives the robot the package and uses the laptop to send the robot to Jane's office

  • THere are some people chatting and in the way

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

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

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

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

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

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

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

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

  • demos

    gen2-demo-instructions.md

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    Intro

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

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    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”

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    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

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    On a third machine

    • Install Flask

    • Clone cr_web repo

    • cd into cr_web

    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)

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    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

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    On offboard computer

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

    • make sure that ROS_MASTER_URI= (or whereever roscore is runnung)

    Wait until the bringup finishes. Look for “Odom received” message
    Make sure to bring up TB2 (with cr_ros), or run a local roscore
  • export ROS_MASTERURI=_

  • export FLASK_APP=rover_app

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

  • http://129.64.243.64:11311arrow-up-right
    http://______arrow-up-right