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+ |)