CBS Demo

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

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

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

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");

Assistive Teleop Interface

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