HRI Virtual Machine

Installation

1. Install Virtual Box and Extension Pack (www.virtualbox.org)

2. Download HRI_16.04 image and import it in Virtual Box

3. Start the VM (username: ubuntu, password: marrtino)

Run the example

1. Terminal 1:

cd src/modim/src/GUI

python ws_server.py

2. Terminal 2:

cd src/modim/demo/eurobotics

firefox index.html

Check that the small o on the upper-right side of the firefox window is green.

3. Terminal 3:

cd src/stage_environments/scripts/

./start_simulation.py

Select

Map: peccioli@Home

Robot: diago

N. robots: 1

Localization: srrg_localizer

Navigation: move_base

Demo: rcathome

Run the simulation with the 'Start' button. Wait a few seconds that all the modules are started. Look at the window running PNP executor that contains the text Waiting for the plan...

4. Terminal 4

cd src/robocupathome_pnp/plans/

./runplan.sh diago_0 cocktail_party

The plan is compiled and executed, the robot moves to a location where a person is expected. Move a box in front of the robot and follow interaction on the firefox window. Push a button when asked for a drink and see the robot moving to grab the drink. Push OK button after the second interaction and see the robot completing the task by exiting the apartment.

The plan can be started multiple times with the runplan command.

Quit the example

Push 'Quit' button in the start simulation interface.

Kill the ws_server script (CTRL+ |)