Difference between revisions of "CBS Demo"

Latest revision as of 01:28, 18 July 2012

[edit] Installation Instructions

1. Download and run rosinstall file:

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

1. rosmake

rosmake rcommander_pr2_gui pr2_interactive_manipulation

1. Checkout private data:

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

1. Checkout ros overlays:

FIXME: svn co https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_robot/tags/pr2_robot-1.2.4/ ~/vcs/pr2_robot
hg clone -u pr2_robot-1.4.0 http://kforge.ros.org/pr2robot/hg ~/vcs/pr2_robot

1. Add overlay for data to private data:

export ROS_PACKAGE_PATH=$PATH_TO_KELSEY_ROBOT1:$ROS_PACKAGE_PATH

1. Make robot behaviors link

ln -s vcs/hrl-demo/cbsdemo/robot_behaviors ~/robot_behaviors

1. Add apache links

sudo ln -s /u/cbsdemo/vcs/rcommander_pr2/rcommander_web/html /var/www/rweb
sudo ln -s /u/cbsdemo/vcs/hrl_assistive/assistive_teleop/website/ /var/www/assistive

1. Make sure clocks are synchronized btw. both robot computers and laptop

ntpdate -q prj1

1. if offset greater than 0.01s, synchronize:

sudo ntpdate prj1

[edit] Launch Files

robot start
roslaunch henry_manipulation henry_manipulation_robot.launch wg:=false
roslaunch cbsdemo rcommander_robot.launch
roslaunch hrl_face_adls face_adls.launch subject:=kelsey_1
roslaunch assistive_teleop assistive_teleop.launch

Old/Don't use:

roslaunch cbsdemo robot.launch

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

[edit] Editing RCommander Behaviors

1. Mount the robot's behaviors directory on the local machine:

sshfs -o idmap=user cbsdemo@prj:/u/cbsdemo/robot_behaviors/Behaviors /home/haidai/Desktop/pr2_behaviors

1. Run RCommander

roslaunch rcommander_pr2_gui run_rcommander_pr2.launch

[edit] In browser

http://prj/rweb/rweb.html

http://prj/assistive/tab_interface.html

http://prm/rweb/rweb.html

http://prm/assistive/tab_interface.html

Change html file to point to your robot (/var/www/rweb/rweb.html). Find this line and change it:

NODE_HANDLE = new ros.NodeHandle("ws://prm:9091");

Edit /var/www/assistive/tab_interface.html to point to your robot.

[edit] Assistive Teleop Interface

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