srs_public: srs_arm_navigation_tests | srs_assisted_arm_navigation | srs_assisted_detection | srs_decision_making | srs_decision_making_interface | srs_env_model | srs_env_model_msgs | srs_env_model_percp | srs_environments | srs_grasping | srs_human_sensing | srs_interaction_primitives | srs_knowledge | srs_leg_detector | srs_likelihood_calculation | srs_msgs | srs_object_verification | srs_pellet | srs_people_tracking_filter | srs_scenarios | srs_states | srs_symbolic_grounding | srs_ui_but
Package Summary
srs_scenarios
- Author: Renxi Qiu
- License: BSD
- Repository: care-o-bot
- Source: git git://github.com/ipa320/srs_public.git
Scenario
srs_scenarios
Testing SRS interface and interactions under simulation environment.- robot stands at zero position
- robot search in room for milkbox based on common knowledge from semantic DB
- robot perceive object information based on environment perception and object detection
- robot adjust position autonomously based on decision making and symbolic grounding
- robot grasp the object and transfer the object to the tray
- robot brings milkbox to the sofa in the IPA kitchen
Usage/Examples
Start the simulation and all related services about decision making, knowledge, etc.
Start the simulation (All necessary services for the simulation will be loaded)
roslaunch srs_scenarios srs_scenario_sim.launch
Add a milk bottle in the simulation on either kitchen or table
roslaunch srs_scenarios milk_box_kitchen.launch or roslaunch srs_scenarios milk_box_table.launch
Start the get milk box procedure (Priority 0)
rosrun srs_decision_making test_client_get_milk.py
Other options
Issue a higher level command (Priority 1) to override previous task
rosrun srs_decision_making test_client_move_order.py
Stop the robot during any operation
rosrun srs_decision_making test_client_stop.py
Pause the robot during any operation
rosrun srs_decision_making test_client_pause.py
Resume the robot during any operation
rosrun srs_decision_making test_client_resume.py
Simulated responses from user interface
rosrun srs_decision_making ui_test_client.sh or rosrun srs_decision_making ui_test_client_give_up.sh