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Setting Up Pyson

Pyson is a JASON-Style AgentSpeak interpreter for Python.

Currently this plugin is under development but we could not found the currently version.

To run the example we created, you need:

  1. Ubuntu 14.04 with Indigo distribution installed.
  2. Python

And should follow this steps:

  1. Install Pyson
  2. Download the Grizzly robot
  3. Add the launch files from to Grizzly
  4. Copy the package node
  5. Lauch Grizzly
  6. Run Pyson

1. Install Pyson --------

To install Pyson is simple. First, download Pyson source code from the GitHub repository. Then, you need to execute in a terminal the command:

sudo python setup.py develop

This command will install all the Pyson's dependencies.

2. Download the Grizzly robot --------

For this work, we use Grizzly simulator. You need to download the source from GitHub and place it in src in your catkin_ws. After that, run:

catkin_make

And

source [YOUR PATH]/catkin_ws/devel/setup.bash

3. Add the launch file from to Grizzly --------

We created an odometry node to get the robot position. You need to replace the file at catkin_ws/src/grizzly_simulator/grizzly_gazebo/launch/base_gazebo.launch for the file at /launch/Grizzly/base_gazebo.launch. The file on this repository already contains the node to get the positions information:

<node pkg="check_odom" type="check_odometry" name="main.py" output="screen" >

Where:

  • The pkg is the name of the package.
  • The type is the name of the node described at our script
  • The name is the name of our script
  • Output is the way the information is printed

For the example, we launched two robots. So, you also need to replace the file at catkin_ws/src/grizzly_simulator/grizzly_gazebo/launch/grizzly.launch for the file at /launch/Grizzly/grizzly.launch.

After you replace the file, run

catkin_make

4. Copy the package node --------

In this repository, inside src/pyson/ there is a folder named check_odom. You need to copy this folder to your catkin_ws.

5. Lauch Grizzly --------

To launch Grizzly, run:

sudo apt-get update

sudo apt-get install ros-indigo-grizzly-simulator ros-indigo-grizzly-desktop ros-indigo-grizzly-navigation

roslaunch grizzly_gazebo grizzly_empty_world.launch

6. Run Pyson --------

Open other terminal and run:

roscore

In other terminar, enter the folder check_odom you just copied to your catkin_ws and run:

python main.py

You will se the plans and the actions on your console, and the robot moving on Gazebo.