Difference between revisions of "CBS Demo"

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(Launch Files)
(Installation Instructions)
Line 3: Line 3:
 
  http://gt-ros-pkg.googlecode.com/git/cbsdemo/cbsdemo.rosinstall
 
  http://gt-ros-pkg.googlecode.com/git/cbsdemo/cbsdemo.rosinstall
 
# rosmake
 
# rosmake
  rosmake rcommander_pr2_gui
+
  rosmake rcommander_pr2_gui pr2_interactive_manipulation
 
# Checkout private data:
 
# Checkout private data:
 
  svn co http://svn.hsi.gatech.edu/cckemp/robot1/usr/kelsey kelsey_robot1
 
  svn co http://svn.hsi.gatech.edu/cckemp/robot1/usr/kelsey kelsey_robot1

Revision as of 16:57, 17 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 pr2_interactive_manipulation
  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

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).

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

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