Package Summary

• Author: Hai Nguyen (haidai@gmail.com), Advisor: Charles C. Kemp (Healthcare Robotics Lab, Georgia Tech)

• License: BSD

• Source: git co https://code.google.com/p/gt-ros-pkg.rcommander-pr2/

Installation

First you will the ROS Commander rosinstall file:

• Installs RCommander PR2, RCommander core, and all stacks needed to run it (HIGHLY RECOMMENDED): rcommander_v07_all_fuerte.rosinstall

• If you're using ROS Electric use rcommander_all_electric.rosinstall. Note that not all the features shown here will work in Electric.

Next, in a directory of your choice call rosinstall, setup your environment, call rosmake, then launch the default vanilla ROS Commander GUI. Replace rcommander_all with your rosinstall of choice:

rosinstall .  /opt/ros/fuerte rcommander_all_fuerte.rosinstall
source setup.bash
sudo apt-get install festlex-cmu festlex-poslex festlex-oald  libestools1.2 festvox-don festvox-rablpc16k festvox-kallpc16k festvox-kdlpc16k
rosmake rcommander_pr2_gui
rosmake rcommander_ar_tour

You will want to keep ROS Commander into your ROS_PACKAGE_PATH so execute:

echo "source `pwd`/setup.bash" >> ~/.bashrc

Then repeat the above steps on your PR2. Things are a little more tricky as we'll need to setup the env-loader. Begin by creating a new file in your home directory called "env.sh". Fill it with the script below but replace PATH_TO_YOUR_RCOMMANDER_ROSINSTALL with the path where you checked out the code above:

if [ $# -eq 0 ] ; then
    /bin/echo "Entering environment at /opt/ros/fuerte"
    . /opt/ros/fuerte/setup.sh
    $SHELL
    /bin/echo "Exiting build environment at /opt/ros/fuerte"
else
    . /opt/ros/fuerte/setup.sh
    . PATH_TO_YOUR_RCOMMANDER_ROSINSTALL/setup.sh
    exec "$@"
fi

Next, make a folder on the robot where saved ROS Commander files can be loaded from:

ln -s PATH_TO_SAMPLE_BEHAVIORS_FOLDER ~/robot_behaviors

Where PATH_TO_SAMPLE_BEHAVIORS_FOLDER is the path to the package rcommander_sample_behaviors in the stack rcommander_pr2 checked out by the rosinstall.

Finally, create the symlinks to serve up the web interface (accessible at http://c1/rweb/rweb.html):

sudo ln -s `rospack find rcommander_web`/html /var/www/rweb

You're now all ready! Next, proceed to the tutorials.

Users's Guide

Video Tutorials

• Constructing a basic gesture

• Constructing behaviors using task frames

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