Demo concert

Installation

Rocon Install

• https://github.com/robotics-in-concert/rocon#installation
• Troubleshooting
  • When following error occurred, please refer to installation of ros

Demo Concert Install

    > cd <your rocon workspace>
    > cd src
    
    (Try to launch simulation demo concert)
    > wstool merge https://raw.githubusercontent.com/robotics-in-concert/rocon_demos/demo_concert/rosinstall/demo_concert_sim.rosinstall
    (Try to launch real demo concert)
    > wstool merge https://raw.githubusercontent.com/robotics-in-concert/rocon_demos/demo_concert/rosinstall/demo_concert.rosinstall
    
    > wstool update -j10
    > cd ..
    > yujin_make --install-rosdeps
    > yujin_make
    > . .bashrc

Workflow engine installation

1. Install Node
2. Install concert_workflow_engine_blockly dependency

    > roscd concert_workflow_engine_blockly
    > npm update

3. Note that npm update would ask sudo access to install node-canvas dependency

Preparation

• Configure ROS environment variables and concert name

     > export ROS_HOSTNAME=<your pc ip> (ex. export ROS_HOSTNAME=192.168.10.24)
     > export ROS_MASTER_URI=<concert pc ip> (ex. export ROS_HOSTNAME=http://192.168.10.24:11311)
     > export CONCERT_NAME=<concert name>  (ex. export CONCERT_NAME=demo_concert)

Execution

Pick up only solution

• Configure the pick up service environment

    > roscd demo_concert/configurations
    > source pickup_online_webapp.sh

• Import world canvas database

• Launch the concert for importing world canvas annotation.

  > roslaunch demo_concert concert.launch --screen
  

• Open new termianl.

  > cd <your rocon workspace>
  > . .bashrc
  > rosservice call /software/world_canvas/yaml_import `rospack find demo_concert`/annotations/yujin_rnd_fulldb.yaml
  

• When you check following message, terminate the concert by ctrl+c at the terminal launched it.

  result: True
  message: ''
  

• Re-Start pick up service with following command

    >  rocon_launch demo_concert pickup_sim.concert --screen

• Pickup order

  • Open Web Remocon(http://remocon.robotconcert.org)

  • Click the + and add the your master ip of concert (default: ws://localhost:9090)

  • Click the connect to connect concert

  • To open order app, choose the role customer, interaction pickup delivery order and start app

• Delivery Monitor

  • To launch delivery monitor app, choose the role manager, interaction pickup delivery monitor and start app