Robot behavior inference system based on ROS.
Given the probalistic model of a robot (e.g. robot.py) and the observed position series (e.g. test.txt), infer the actual behavior of the robot.
- install ROS following instrucitons in http://wiki.ros.org/ROS/Installation
- create a catkin workspace
catkin_ws
following instrucitons in http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace
- put
robot_inference
undercatkin_ws/src
directory cd
tocatkin_ws
source devel/setup.bash
catkin_make
cd src/robot_inference/scripts
chmod +x *.py
roscd robot_inference
- in a new terminal or screen run
roscore
- in a new terminal or screen (build the package first), run
rosrun robot_inference robot_inference_server.py
- [c++ client] in a new terminal or screen (build the package first),
roscd robot_inference/src
, runrosrun robot_inference robot_inference_client [observation file]
e.g. under robot_inference/src directoryrosrun robot_inference robot_inference_client test.txt
- [python client] in a new terminal or screen (build the package first),
roscd robot_inference
, runrosrun robot_inference robot_inference_client.py [observation file]
e.g. under robot_inference directoryrosrun robot_inference robot_inference_client.py sample/test.txt
- build the package,
roscd robot_inference
ROS_HOME=`pwd` roslaunch robot_inference robot_inference.launch a:="[observation file]"
e.g. under robot_inference directoryROS_HOME=`pwd` roslaunch robot_inference robot_inference.launch a:="sample/test.txt"
. Information received by client is displayed on screen.
ROS package
build information
package information
package information
launch file
service
robot model
robot inference server
robot inference client (python)
robot inference client (c++)
test obervations. each line is a pair of coordinates of observed position