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Rodrigo Serra edited this page Nov 28, 2023 · 1 revision

Setup the Demo on Mbot pc

After ssh into the robot using the alias mbot or ssh socrob@10.1.15.14 :

  • Start the roscore using roscore
  • Launch the robot driver using the alias bringup_mbot or roslaunch mbot_bringup robot.launch
  • Trigger the global localization script by running rosrun mbot_robot_class global_loc or through the alias global_loc

Extra:

  • watch_bat
  • roslaunch mbot_actions move_base_wrapper.launch
  • roslaunch mbot_actions run_actions_servers.launch
  • moveit
  • roslaunch mbot_perception_launch mbot_perception.launch

Setup the Demo on Local pc (harode)

After exporting the ROS_MASTER_URI using the alias export_mbot:

  • Launch rviz using the alias rviz or rosrun rviz rviz and Provide a 2D Pose Estimate:

pose_estimate

  • Launch the mbot GUI using rosrun mbot_rqt mbot_rqt to interact with Mbot:

mbot_gui

Setup Mbot

  • Microphone: make sure it is ON by checking the green light on the back of the mic
  • Arm: setup the arm using rosrun cyton_gamma_1500_driver unfold_arm (local pc)
  • Volume: If needed, adjust volume of mbot's voice using alsamixer (mbot pc)

Performing the Demo

Vocal interaction with Mbot:

  • Possible Sentences:
    • 'Robot, introduce yourself'
    • 'Tell me a joke'
    • 'What is your name?'
    • 'Where are you from?'
    • 'Go to the kitchen'
    • more examples: rosed vocon_speech_recognizer gpsr_ted_talk_demo.bnf
  • When the robot asks: "Is it correct?"
    • Answer with: 'It is correct' or 'It is wrong'

GUI interaction:

  • 'sentence' -> SAY
  • Open/Close Gripper
  • Display Emotions
  • Turn head and tilt head camera
  • WAY_POINT -> Navigate

Suggestions:

  • At the end of the demo use GUI to interact with visitors:
    • 'Goodbye, thank you for the visit'
    • 'You guys are awesome'
    • 'Let's take a photo together'
    • (...)

Possible Troubleshooting

Define if you want to use the arm (on mbot):

  • If you want to use the arm: export ROBOT=mbot05-with-arm
  • Otherwise: export ROBOT=mbot05
  • Query status: echo $ROBOT

Using Rviz (local pc) to Localize the robot:

  • Additionally, inside rviz navigation folder enable the local_costmap and global_costmap visualization to be able to see the free space.

Arm usage

  • Run basic script to un-dock the arm from its shelf support: rosrun cyton_gamma_1500_driver unfold_arm
  • Select the kinematic chain to be used by typing in the commander: use left_arm
  • Send the arm to one of the possible pre-recorded arm configurations:
    • muscle/candle/front/kill/pregrasp/pregrasp_side_table/muscle/back/top_table/pregrasp_top_table/cartesian_demo
  • Actuate the gripper:
    • To Open the gripper use the alias open_gripper or rostopic pub --once /left_arm_gripper/gripper_command mcr_manipulation_msgs/GripperCommand "command: 0"
    • To Close the gripper use the alias close_gripper or rostopic pub --once /left_arm_gripper/gripper_command mcr_manipulation_msgs/GripperCommand "command: 1"
  • Run basic script to fold the arm back into mbot shell 3D printed support: rosrun cyton_gamma_1500_driver fold_arm
  • Turn of the motors (WARNING: arm will drop!) using the alias kill_arm or rosrun cyton_gamma_1500_driver set_arm_torque_off

Mbot not able to speak

  • ensure alsamixer settings are as follows:
  • (note the MM, 00 at the bottom of the vertical scrollbars)
  • MM stands for mute, toggle it's value by pressing m
  • alternatively if the above does not solve, try: killall pulseaudio alsamixer_config

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