Difference between revisions of "CBS Demo"

Revision as of 20:34, 16 July 2012

Installation Instructions

1. Download and run rosinstall file:

http://gt-ros-pkg.googlecode.com/git/cbsdemo/cbsdemo.rosinstall

1. rosmake

rosmake rcommander_pr2_gui

1. Checkout private data:

svn co http://svn.hsi.gatech.edu/cckemp/robot1/usr/kelsey kelsey_robot1

1. Add overlay for data to private data:

export ROS_PACKAGE_PATH=$PATH_TO_KELSEY_ROBOT1:$ROS_PACKAGE_PATH

Launch Files

roslaunch cbsdemo robot.launch
roslaunch henry_manipulation henry_manipulation_robot.launch wg:=false
roslaunch cbsdemo rcommander_robot.launch
roslaunch hrl_face_adls face_adls.launch subject:=dummy_1
roslaunch assistive_teleop assistive_teleop.launch

The "dummy_1" argument will change depending on the model (will eventually be henry_1).

Editing RCommander Behaviors

sshfs -o idmap=user cbsdemo@prj:/u/cbsdemo/robot_behaviors/Behaviors /home/haidai/Desktop/pr2_behaviors
roslaunch
roslaunch rcommander_pr2_gui run_rcommander_pr2.launch

In browser

http://prj/rweb/rweb.html

http://prj/assistive/tab_interface.html

Assistive Teleop Interface

In updated Chrome browser only: file:///home/kelsey/dev/hrl_assistive/assistive_teleop/website/tab_interface.html