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PetervDooren edited this page Dec 7, 2021 · 6 revisions

User Interfaces

There are a number of Graphical User Interfaces available to have the robots doing their thing:

  • adashboard starts the AMIOG dashboard (at <host>:9090) to start, stop, home, and reset the hardware. This also contains the indicators for battery and emergency button status. N.B.: for other robots, there are other aliases. The use of the hardware dashboard is explained in Starting up and shutting down AMIGO
  • hero-dashboard starts the dashboard (at <host>:9090) to monitor the batteries of HERO.
  • The mobile-ui can be used to move the robots directly, e.g., to move the base, the arms and to have the robot say things.
  • RViz is the ROS visualization tool. This shows the robots view of the world, e.g., the map of the environment, where the robot is in this environment and where all objects are located. This UI is used to give a robot navigation goals or to set the (initial) pose of the localization algorithm. This can only be run on a devPC.
  • Open Challenge UI to see the world through the robots eyes and to swipe furniture objects into the world model.

N.B. in the following, <host> refers to the network host where the required web server is running. In case of AMIGO, e.g., the server is running on amigo1 (192.168.44.91), in case of SERGIO, this is sergio1 (192.168.44.71) and in case of HERO hero1 (192.168.44.51).

RViz

  • To visualize RViz, start a terminal (Ctrl+Alt+t) and enter hero-core to indicate that you want to communicate with the roscore that is running on the robot. N.B. if you want to use another robot, replace hero by the respective robot name. N.N.B.: you have to enter hero-core on every new terminal that you start.
  • Enter hero-rviz (or another robot) to start rviz with a proper configuration.

Mobile UI

The mobile UI can be found by accessing <host>:8000/ed/dist/ (you can even run this tool on your mobile phone if it is connected to the RoboCupAtHome network). This contains a number of functionalities:

  • On the 'Teleop' page you can directly move the base (forward and rotate)
  • On the 'Custom poses' page you can request the robot to perform a number of pre-programmed motion with arms or torso (currently not working)
  • On 'Presentation' you can have the robot introduce itself in English
  • On the soundboard you can have the robot speak a number of pre-programmed sentences
  • On 'Text to Speech' you can enter custom sentences for the robot to pronounce.
  • On 'Amigo hear' you can help the robot in case it doesn't hear you

Open challenge UI

The Open Challenge UI can be accessed by entering <host>:8000/ed/dist in your favorite web browser (most convenient is to use the iPad for this purpose).

  • See the world through the robot's eyes
  • Move the base (drive forward/backward and rotate) using the bottom-left area of the page
  • Move the head using the bottom-right area of the page
  • Direct the robot to look at something by clicking on the image.
  • Swipe furniture objects into the world model. Make sure that the robot stands in front of the front of the furniture object to fit and that the robot has the front edges of the furniture object in view. In case you make a mistake, you can undo your swiping action using the 'Undo' button.
  • Using the 'Create walls' button you can extrude the gmapping map into a 3D wall representation.
  • The button 'AMIGO' sends the command gpsr over the amigo/trigger topic. After this, you can give commands through natural speech (either spoken or using a graphics user interface). Look under 'Speech input' below for a list of possible commands.

ED UI

  • ToDo

Speech input

The list of possible commands is as follows:

  • <<navigate/go/drive>> to the <furniture>
  • inspect the <furniture>
  • <<bring/deliver/give>> me the <object> from the <furniture>
  • <<carry/bring>> the <object> from the <furniture> to the <furniture>
  • <present/introduce> yourself
  • <<say/tell>> <<a joke/what time it is/your name/your teams name/the day of the month/the day of the week/the date>>

Here, you need to replace <furniture> by one of the furniture objects that is in the world model, e.g., because you swiped them in using the UI. The <object> needs to be one of the objects in the object set; look at the labels to know their names. Concerning the options with double brackets, you have to select one of the options. Text between square brackets is optional.

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