Install

Tested on Linux Ubuntu systems with Docker CLI version 19.03.6 and docker-compose version 1.28.2.

• docker

  Install Docker CLI (not Docker Desktop!!!).

  See also Post-installation steps for Linux. In particular, add your user to the docker group and log out and in again, before proceeding.

• docker-compose

  You need to install the latest version 1.28, check it with

    docker-compose --version
  

• For Nvidia drivers, install nvidia-docker2

    https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html
  

Setup

• Clone this repository

    git clone https://github.com/iocchi/DIAG_demo.git
  

• VNC-based xserver (if you want to run it GUI-less or have problems with your graphic card)

    docker pull devrt/xserver
  

• Download Contingent-ff

Download Contingent-ff and copy it in the bin folder of this repository

Run

On host OS, move to bin folder of this repository

    cd DIAG_demo/bin

• Start docker containers

  Start using OS display (it may not work with Nvidia cards)

    ./start.bash
  

  or start with

    ./start.bash nvidia
  

  or start with VNC

    ./start.bash vnc
  

  and open a browser at http://localhost:3000 to see the simulator.

  Note: the first time you run this command it will download docker images (it would take some time and require good network connection).

• Start a scenario

  Start a scenario script in DIAG_demo/bin folder

    ./scenario1.bash
  

  This script will launch ROS nodes and action proxies

• Run a plan

    ./run_plan.bash [<plan_name>|stop]
  

  Example for scenario1:

    ./run_plan.bash DIAG_printer_2
  

  The robot goes to the printer and checks the light color, if it is red, the robot tells it to the blue person, then it goes back home.

  See other plans in the plans folder.

Scenario configuration

Copy and edit scenario<n>.bash and actions_scenario<n>.bash to customize a scenario configuration. Do not modify the files in the folder as they are under git control and will prevent further updates.

• Set robot pose

    ./setrobotpose.bash <X> <Y> <th_deg>
  

  Example

    ./setrobotpose.bash 2.0 2.0 0
  

  Note: if localizer is already started, make sure to re-localize the robot after this command (for example, by using rviz)

• Set person pose

    ./setpersonpose.bash <name> <X> <Y> <th_deg>
  

  Example

    ./setpersonpose.bash alice 5.4 2.2 1.57
  

• Change light status

    ./setlight.bash [red|green]
  

  Run the plan to see different behaviors according to the light color.

Stop demo and quit all services

    ./stop.bash

Development

For development or to run the last versions of code, follow these additional instructions.

• Download MARRtino apps and other repos in $HOME/src

    cd $HOME/src
    git clone --depth 1 https://bitbucket.org/iocchi/marrtino_apps.git
    git clone --depth 1 https://bitbucket.org/iocchi-/stage_environments.git
    git clone --depth 1 https://github.com/Imperoli/gradient_based_navigation.git
    git clone --depth 1 https://github.com/iocchi/stagepersondetection.git
    git clone --depth 1 https://github.com/iocchi/PetriNetPlans
  

• Set environment variable MARRTINO_APPS_HOME

  Set MARRTINO_APPS_HOME to marrtino_apps folder

  In ~/.bashrc

    export MARRTINO_APPS_HOME=<PATH_TO>/marrtino_apps
  

• Set environment variable DEMO_DIR

  Set demo folder in environment variable DEMO_DIR

    export DEMO_DIR=<path to demo>
  

• If using .bashrc, open a new terminal before running the demo

  Check the settings

    echo $MARRTINO_APPS_HOME
    echo $DEMO_DIR
  

• Start all services in development mode

    ./start.bash dev