OfficeBots -- Python API

This package implements the OfficeBots API in Python, making it easy to create and control a robot in the OfficeBots game.

Installation

From pypi

> pip3 install officebots

From sources

> python3 setup.py install --user

Usage

Check examples in the examples/ directory. You can start with the simple cmdline.py.

List of available commands

These commands can all be used with the cmdline.py script. For instance: python3 examples/cmdline.py set-pos 1.3 2.3 0.5 will position the robot to coordinate (1.3m, 2.3m) and orientation 0.5 rad.

• cmd-vel <linear velocity> <angular velocity>: sets the velocity of the robot
• set-pos <x> <y> <theta>: sets the position of the robot (in meters and radians)
• navigate-to <x> <y>: navigate to the provided point (note that the final orientation can not be controlled)
• stop: stops the robot if moving
• say <message>
• get-pos: returns the current position of the robot
• set-color <colour>: sets the colour of the robot. Parameter must be one of black, blue, yellow, green, red, white, purple, beige.
• set-screen <base64-encoded JPG>: set the image on the robot's screen. See the source of cmdline.py for an example of how to create the base64 JPG image.
• get_humans: returns the humans currently visible to the robot. For each of them, returns the name, (x, y, theta) position and the 6D head position (useful to compute eg the gaze direction)

ROS support

This Python package also provides a complete ROS bridge to the simulator, supporting:

• /cmd_vel to move the robot
• laser scan simulation (/scan)
• tf frames
• ROS4HRI implementation (with persons and faces tracking, and speech simulation via the in-game chat)
• simulated navigation (via /move_base_simple/goal)
• image streaming to the robot's tablet (by publishing images to /screen/raw_image)
• simulated robot speech (/say)