Two NAO Robots Synchronised in ROS

Info

I've been asked by the University to have two NAO robots talking about plagiarism. This was not very exciting, however, the idea of having 2 NAO robots connected was interesting.

This repository has two ROS nodes coded in C++ that coordinate 2 NAO robots to do a simple task such as counting together (alternating) or a speech about plagiarism. Artificial Intelligence on Academic Integrity (AI on AI)

Two NAOs counting together (alternating)

Nodes

• two_nao_count_together: Node that coordinates the 2 robots when counting together (alternating)
• two_nao_plagiarism_speech: Node with the conversation of 2 robots about plagiarism

Dependencies

• ROS (tested with ROS Kinetic Kame)
• NAO ROS packages:
  • http://wiki.ros.org/nao
  • http://wiki.ros.org/nao_bringup
  • http://wiki.ros.org/nao_apps

How to Install

• roscd
• cd ../src
• git clone https://github.com/FelipMarti/two_nao_sync.git
• cd ..
• catkin_make

How to Run

Two NAOs counting together (alternating)

Open 1 terminal

• roscore

Open another terminal and execute the roslaunch with the 2 different IP addresses (or hostnames) of the 2 robots. In my case nao.local is robot 1 and rosie.local is robot 2.

• roslaunch two_nao_sync two_nao_count_together.launch nao_ip_1:=nao.local nao_ip_2:=rosie.local

Two NAOs talking about plagiarism (AI on AI)

Option 1

Open 1 terminal

• roscore

Open another terminal and execute the roslaunch with the 2 different IP addresses (or hostnames) of the 2 robots: nao_ip_1 and nao_ip_2. In my case nao.local is robot 1 and rosie.local is robot 2.

• roslaunch two_nao_sync two_nao_plagiarism_speech.launch nao_ip_1:=nao.local nao_ip_2:=rosie.local

Option 2

Open 1 terminal

• roscore

Open another terminal and execute the roslaunch for the first robot. The two variables should be filled in: the ip address nao_ip; and the number of the robot ROBOT. In my case nao.local and r1

• roslaunch two_nao_sync single_nao_with_req.launch nao_ip_1:=nao.local ROBOT:=r1

Open another terminal and execute the roslaunch for the first robot. The two variables should be filled in: the ip address nao_ip; and the number of the robot ROBOT. In my case rosie.local and r2

• roslaunch two_nao_sync single_nao_with_req.launch nao_ip_1:=rosie.local ROBOT:=r2

Open another terminal and execute the roslaunch of the AI on AI code. The two IP addresses (or hostnames) of the 2 robots should be filled in: nao_ip_1 and nao_ip_2. In my case nao.local is robot 1 and rosie.local is robot 2.

• roslaunch two_nao_sync two_nao_only_plagiarism_speech_node.launch nao_ip_1:=nao.local nao_ip_2:=rosie.local

Future Improvements

• There should be 1 node for each robot, and then connect them via topics (Publisher-Subscriber)
• Change the voice pitch of the robots, to make them sound different
• ...