From 25e510ddfb5c2a79a4cbdafbcdb27508e52f442d Mon Sep 17 00:00:00 2001
From: "Inohira, Eiichi" <inohira.eiichi402@mail.kyutech.jp>
Date: Wed, 3 Nov 2021 18:53:07 +0900
Subject: [PATCH] add docker2021,md fix files
---
docker2021.md | 40 +++++++++++++++++++
route_guidance_ros/requirements.txt | 3 +-
.../scripts/service_app_with_eng_client.py | 7 ++--
.../scripts/setup_comp_servers.py | 2 +-
route_guidance_ros/scripts/setup_engines.py | 5 +++
run_docker_i.sh | 2 +-
setup_tmux.sh | 32 ++++++++-------
t3.sh | 3 +-
t4.sh | 3 +-
t5.sh | 6 ++-
t_all.sh | 27 +++++++++++++
11 files changed, 105 insertions(+), 25 deletions(-)
create mode 100644 docker2021.md
create mode 100644 route_guidance_ros/scripts/setup_engines.py
create mode 100644 t_all.sh
diff --git a/docker2021.md b/docker2021.md
new file mode 100644
index 00000000..a2c9e3ee
--- /dev/null
+++ b/docker2021.md
@@ -0,0 +1,40 @@
+
+## System requirements
+
+OS: Ubuntu
+App: docker, tmux
+
+## Step 1
+
+create a new tmux session and several windows
+
+```
+bash setup_tmux.sh
+```
+
+## Step 2
+
+attach the tmux session to the terminal
+
+```
+tmux a
+```
+## Step 3
+
+Switch to 2nd window (src/t_all.sh t2)
+
+Ctrl-b w
+
+Enter
+
+Switch to next window and run command (t3,t4,t5,t5a/t5a)
+
+## Step
+
+detach tmux session and return the terminal
+
+Ctrl-b d
+
+```
+bash close_tmux.sh
+```
diff --git a/route_guidance_ros/requirements.txt b/route_guidance_ros/requirements.txt
index 4226c03d..8a07e9b7 100644
--- a/route_guidance_ros/requirements.txt
+++ b/route_guidance_ros/requirements.txt
@@ -1,4 +1,5 @@
-pyrois==0.0.3
+pyrois==0.0.6
+pyRoIS-common==0.0.6
numpy
termcolor
transitions
diff --git a/route_guidance_ros/scripts/service_app_with_eng_client.py b/route_guidance_ros/scripts/service_app_with_eng_client.py
index 841e879f..a9d68589 100644
--- a/route_guidance_ros/scripts/service_app_with_eng_client.py
+++ b/route_guidance_ros/scripts/service_app_with_eng_client.py
@@ -2,7 +2,7 @@
from pyrois import RoIS_Service, RoIS_HRI
from pyrois.RoIS_Common import Component_Status
from pyrois.RoIS_Service import Completed_Status
-import HRI_Engine_client_sample
+from pyrois_common import HRI_Engine_client_sample
import logging
import queue
@@ -127,10 +127,11 @@ class Service(HRI_Engine_client_sample.IF):
self.get_parameter('urn:x-rois:def:HRIComponent:Kyutech:main:SystemInformation')
self.Start()
- print(self.state)
+ # print(self.state)
# self.PLSuccess()
# print(self.state)
-
+ while True:
+ time.sleep(5)
if __name__ == '__main__':
service = Service()
diff --git a/route_guidance_ros/scripts/setup_comp_servers.py b/route_guidance_ros/scripts/setup_comp_servers.py
index 4db0b39a..0efc1434 100644
--- a/route_guidance_ros/scripts/setup_comp_servers.py
+++ b/route_guidance_ros/scripts/setup_comp_servers.py
@@ -65,7 +65,7 @@ def launch_components_and_subengines(**robot_port_table):
]
process.append(SubprocessWrapper(command))
print("Person Localization Component Constructed.")
- time.sleep(10)
+ # time.sleep(10)
# for engine_port in robot_port_table.values():
# process.append(SubEngineWrapper(engine_port))
diff --git a/route_guidance_ros/scripts/setup_engines.py b/route_guidance_ros/scripts/setup_engines.py
new file mode 100644
index 00000000..eca75e5c
--- /dev/null
+++ b/route_guidance_ros/scripts/setup_engines.py
@@ -0,0 +1,5 @@
+#!/usr/bin/env python
+
+from pyrois_common import HRI_Engine_sample
+
+HRI_Engine_sample.test_engine(8000,'engine_profile/engine_profile_gazebo', 'client_info_gazebo', None, None)
diff --git a/run_docker_i.sh b/run_docker_i.sh
index 90602d7e..e4bd62b3 100644
--- a/run_docker_i.sh
+++ b/run_docker_i.sh
@@ -2,4 +2,4 @@ xhost +
docker run -it --rm --name sim --gpus all \
-e DISPLAY=$DISPLAY -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--device /dev/snd -v "${PWD}:/root/src" \
- mysim:melodic bash /root/src/start_i.sh
+ mysim:melodic-1.0 bash /root/src/start_i.sh
diff --git a/setup_tmux.sh b/setup_tmux.sh
index a5c2181d..04ff4ac4 100644
--- a/setup_tmux.sh
+++ b/setup_tmux.sh
@@ -2,30 +2,32 @@
echo "launch gazebo"
tmux new-session -d \; \
- send-keys "bash run_docker_i.sh" C-m\;
+ send-keys "bash run_docker_i.sh" C-m \;
-sleep 5
+# sleep 5
echo "spawn a human"
tmux new-window \; \
- send-keys "docker exec -it sim bash src/t2.sh" C-m \;
+ send-keys "docker exec -it sim bash src/t_all.sh t2" \;
-sleep 5
+# sleep 5
echo "setup components"
tmux new-window \; \
- send-keys "docker exec -it sim bash src/t3.sh" C-m \;
+ send-keys "docker exec -it sim bash src/t_all.sh t3" \;
-sleep 15
-echo "run service app"
+# sleep 15
+echo "run HRI engines"
tmux new-window \; \
- send-keys "docker exec -it sim bash src/t4.sh" C-m \;
+ send-keys "docker exec -it sim bash src/t_all.sh t4" \;
-sleep 15
-echo "operate the human"
+# sleep 15
+echo "run SA"
tmux new-window \; \
- send-keys "docker exec -it sim bash src/t5a.sh" C-m \;
+ send-keys "docker exec -it sim bash src/t_all.sh t5" \;
-sleep 30
-echo "ask the robot to navigate"
+# sleep 30
+echo "operate human to walk"
tmux new-window \; \
- send-keys "docker exec -it sim bash src/t5o.sh" C-m \;
-echo "finish script"
\ No newline at end of file
+ send-keys "docker exec -it sim bash src/t_all.sh t5a" \;
+echo "finish script"
+
+tmux a
diff --git a/t3.sh b/t3.sh
index f355409e..bfcd1c2e 100644
--- a/t3.sh
+++ b/t3.sh
@@ -1,3 +1,4 @@
. devel/setup.bash
roscd route_guidance_ros/scripts/
-python3 -c "import utilities;utilities.setup_single_robot();input('hit Enter key')"
+# python3 -c "import utilities;utilities.setup_single_robot();input('hit Enter key')"
+python3 -c "import setup_comp_servers;setup_comp_servers.setup_single_robot();input('hit Enter key')"
diff --git a/t4.sh b/t4.sh
index 3f7a522e..78a7296b 100644
--- a/t4.sh
+++ b/t4.sh
@@ -1,3 +1,4 @@
. devel/setup.bash
roscd route_guidance_ros/scripts/
-python3 service_app_lv2.py
+# python3 service_app_lv2.py
+python3 setup_engines.py
\ No newline at end of file
diff --git a/t5.sh b/t5.sh
index 68a169a3..d7b31d92 100644
--- a/t5.sh
+++ b/t5.sh
@@ -1,3 +1,5 @@
. devel/setup.bash
-cd src
-rosbag play -q gan_cmd01.bag
\ No newline at end of file
+# cd src
+# rosbag play -q gan_cmd01.bag
+roscd route_guidance_ros/scripts/
+python3 service_app_with_eng_client.py
\ No newline at end of file
diff --git a/t_all.sh b/t_all.sh
new file mode 100644
index 00000000..a04adaf6
--- /dev/null
+++ b/t_all.sh
@@ -0,0 +1,27 @@
+source devel/setup.bash
+
+case $1 in
+ "t2" )
+ roslaunch rois_gazebo spawn_human.launch
+ ;;
+ "t3" )
+ roscd route_guidance_ros/scripts/
+ python3 -c "import setup_comp_servers;setup_comp_servers.setup_single_robot();input('hit Enter key')"
+ ;;
+ "t4" )
+ roscd route_guidance_ros/scripts/
+ python3 setup_engines.py
+ ;;
+ "t5" )
+ roscd route_guidance_ros/scripts/
+ python3 service_app_with_eng_client.py
+ ;;
+ "t5a" )
+ rostopic pub -1 human1/diff_drive_controller/cmd_vel geometry_msgs/Twist -- "[0,0,0]" "[0,0,-1]"
+ rostopic pub -1 human1/diff_drive_controller/cmd_vel geometry_msgs/Twist -- "[1,0,0]" "[0,0,0]"
+ rostopic pub -1 human1/diff_drive_controller/cmd_vel geometry_msgs/Twist -- "[1,0,0]" "[0,0,0]"
+ ;;
+ "t5o" )
+ rostopic pub -1 robot1/detected_text std_msgs/String "data: 'point_a'"
+ ;;
+esac
\ No newline at end of file
--
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