Tutorial

###How to try FreMEn ?

The FreMEn is implemented as a ROS-based action server FremenServer, which is also part of the STRANDS project software release. If you manage to download and build it, you can quickly try it in a few steps:

0. Don not forget to source your environment.

1. Run the fremen server: rosrun fremenserver fremenserver.

2. Run the action client: rosrun actionlib axclient /fremenserver

3. Add four measurements of the state 'Test' using the action client

   • fill the operation field with 'add' - this indicates that you are new adding observations,
   • fill the id field with 'Test' - this is the name of the new state,
   • fill the times field with '0,3600,7200,10800' - this means that the observations were done consecutively hour after hour,
   • fill the states field with '0,1,0,1' - this means that the state changed every hour,
   • press Send goal.
   • You should see a result stating that the measurements were added.

4. Try predictions:

   • fill the operation field with 'predict' - this indicates that you want to predict the given state,
   • fill the id field with 'Test' - this indicates that you want to predict the 'Test' state,
   • fill the times field with '12600,14400,16200,1800' - this indicates that you want to predict the 'Test' state,
   • press Send goal.
   • you should get a probabilities field filled with [0.5, 0.5, 0.5, 0.5], this is because you are using FreMEn order 0, i.e. with no periodic nodes.
   • Change the order field to '1', this will cause the predictions to use one periodicity,.
   • press Send goal.
   • you should get the probabilities field filled with [0.5, 0.0, 0.5, 1.0], which means that the FreMen identified the 1 hour period in the added observations.

5. Try adding real-world data.

   • get a