cup_plate

Cognitive Robotics project in intent recognition and plan adaptation using ROSPlan and Turtlebot robot

Video

https://www.youtube.com/watch?v=h-8FZcqJkiE

the following package requires rosplan that can be found at: https://github.com/KCL-Planning/ROSPlan the required version of rosplan can be found in the hydro branch

occupancy grid that can be found at: https://github.com/clearpathrobotics/occupancy_grid_utils

to run

CREATING LOCAL WORKSPACE:

1. create workspace folder in home directory
2. copy src folder of package into workspace directory
3. run from terminal: cd workspace source /opt/ros/kinetic/setup.bash catkin_make

LOCAL SETUP:

1. navigate to workspace/src/cup_plate/scripts
2. open cpd_real.py and cpd_sim.py
3. modify the "location" variable in to your workspace directory address
4. halt monngodb process: sudo service mongodb stop (to turn on later replace 'stop' with 'start')

----------------REAL_ROBOT---------------------

** required ip's:

of local computer = <local_ip>

of turtlebot = <turtlebot_ip>

1. open 5 terminals

2. connect 2 of them to the turtlebot through ssh:

    ssh turtlebot@<turtlebot_ip>
   

3. connect the 3 others to the turtlebot ROS Master:

    hostname -I
   
    export ROS_IP=<local_ip>
   
    export ROS_MASTER_URI=http://<turtlebot_ip>:11311
   
    cd workspace		
   
    source devel/setup.bash
   

4. in ssh terminal 1:

    roslaunch turtlebot_bringup minimal.launch
   

5. in not-ssh terminal 1:

    roslaunch cup_plate cup_plate_real.launch 
   

6. in ssh terminal 2:

    roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/turtlebot/room2.yaml initial_pose_x:=1.5 initial_pose_y:=2.2 initial_pose_a:=0.0
   

7. in not-ssh terminal 2:

    roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
   

8. in not-ssh terminal 3:

    source src/main.sh
   

9. answer questions in bot-ssh terminal 1

** map file must be located on robot.

you can use the following command to transport a map to the robot:

	rsync -avz ./room.* turtlebot@<turtlebot_ip>:/home/turtlebot/

----------------SIMULATION---------------------

1. open 3 terminals

2. cd workspace

3. source devel/setup.bash

4. in terminal 1:

    roslaunch cup_plate cup_plate_sim.launch
   

5. in terminal 2:

    source src/main.sh
   

5*) optional: (to see in Rviz)

in terminal 3:

 	roslaunch turtlebot_rviz_launchers view_navigation.launch --screen

6. in terminal 1 answer the questions