Resources

• • Petri Net Plans - https://github.com/iocchi/PetriNetPlans

    • PNP library, PNPgen library and applications and pnp_ros, pnp_msgs ROS packages

    • Quick instructions:

    • - global install for PNP (PNP/README file, including 'sudo make install')

    • - global install for PNPgen (PNPgen/README file, including 'sudo make install')

    • - add symbolic links of pnp_ros and pnp_msgs in a catkin workspace (PNPros/README file, but link only pnp_ros and pnp_msgs)

• ROS nodes for basic localization and navigation

  • • stage_environments - https://bitbucket.org/iocchi/stage_environments.git

    • maps, world files for stage, and setup of simulated robots for testing and debugging without the robot.

    • gradient_based_navigation - https://github.com/Imperoli/gradient_based_navigation

    • module for low-level obstacle avoidance and joystick emergency control.

    • thin_navigation - https://bitbucket.org/ggrisetti/thin_navigation.git

    • thin_navigation package, including localizer and path planner

    • laser_analysis - https://bitbucket.org/iocchi/laser_analysis.git

    • segments laser scans distinguishing obstacles outside the map from map elements (requires distances from the map of the range scans provided by thin_localizer).

    • rococo_navigation - https://bitbucket.org/iocchi/rococo_navigation.git

    • implements some basic navigation function (turn, follow corridor, etc.).

    • pnp_ros (included in Petri Net Plans)

      • PNP ROS bridge (follow instructions in PNPros/README file)

    • tcp_interface - https://github.com/gennari/tcp_interface

      • module for external interaction with non-ROS modules

    • hri_pnp - https://bitbucket.org/iocchi/hri_pnp.git

    • PNP action server for HRI tasks (connection with MODIM)

    • diago_apps - https://bitbucket.org/iocchi/diago_apps.git

    • contains launch files and scripts for high-level applications.

Speech understanding

• LU4R speech understanding package (Università Tor Vergata, Italy & Lab RoCoCo Sapienza University of Rome, Italy)

  • LU4R software release - http://sag.art.uniroma2.it/lu4r.html

  • HuRIC dataset - http://sag.art.uniroma2.it/huric.html

  • Slides describing the system - LU4R_day1_slides_v1.0.pdf

FBM3 - Speech understanding

• • FBM3 will be run as described in the rulebook, without the phase with live speaker.

  • Only WAV files (stereo, 44.1KHz) are required to be processed.

  • Sample data - FBM3_sample.zip (10 files with ground_truth file)

Integration Activities: Robot Navigation

• • SPQReL navigation stack - SPQReL_Navigation.pdf

  • homer@UniKoblenz mapping and navigation - Homer_navigation.pdf