This is the current version of RoboFlow (see ICRA 2015 paper: "RoboFlow: A Flow-Based Visual Programming Language for Mobile Manipulation Tasks"). It works for ros hydro and has a web-based visual programming language editor. However, it currently only works for the top-down (starting from scratch) approach, rather than bottom-up (starting with a demonstration).
Don't hesitate to shoot me an email (sonyaa at cs.washington.edu) with any questions!
This version requires the following packages to be also installed (they're ros hydro catkin packages):
https://github.com/sonyaa/pr2_pbd_app (web-based app for saving manipulation demonstration actions + backend for executing those actions)
https://github.com/hcrlab/rws_pr2_navigation (web-based app for saving navigation locations + backend for actually navigating there)
For the previous all-in-one ros-groovy version, see https://github.com/sonyaa/pr2_pbd
This project is built using Gulp (build system) and Polymer (web component framework). In order to build the project, we first have to install Gulp and its dependencies. First, install (Node.Js)[https://nodejs.org/], (Ruby 2.1.*)[https://www.ruby-lang.org/en/downloads/], then (Sass)[http://sass-lang.com/install].
Next, clone this project and cd in the project's top level directory. Run the following commands to install some node modules we will be using:
sudo npm install -g bower
sudo npm install -g yo
Finally, we can use npm and bower to install the remainder of the dependencies which are specified in the package.json and bower.json files:
sudo npm install
sudo bower install
If you run into any conflicts between bower packages, always choose the package with the highest version number. Additionally, ensure that you are using the Sass 2.1.* version and not the 2.2.* version as this may cause build errors.
Once all of the dependencies are installed, you can build the project by running gulp from the top-level directory of the project. If you want to build and view the application (serve it to your browser), run gulp serve. THe recommended web browser is Chrome.
On the robot, launch the following:
roslaunch roboflow app.launch
roslaunch rosbridge_server rosbridge_websocket.launch