[Personalrobots-commit] SF.net SVN: personalrobots: [1246] pkg/trunk

[<mor...@us...>]

Revision: 1246
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=1246&view=rev
Author:   morgan_quigley
Date:     2008-07-03 01:23:55 -0700 (Thu, 03 Jul 2008)

Log Message:
-----------
ruby script hacking to slap together demos

Added Paths:
-----------
    pkg/trunk/highlevel/
    pkg/trunk/highlevel/readme
    pkg/trunk/highlevel/rubot/
    pkg/trunk/highlevel/rubot/manifest.xml
    pkg/trunk/highlevel/rubot/ronsole
    pkg/trunk/highlevel/rubot/rubot/
    pkg/trunk/highlevel/rubot/rubot/rubot.rb
    pkg/trunk/highlevel/rubot/rubot/stair1.rb
    pkg/trunk/highlevel/rubot/test/
    pkg/trunk/highlevel/rubot/test/assimilate
    pkg/trunk/highlevel/rubot/test/platform_stage.xml
    pkg/trunk/highlevel/rubot/test/simple

Added: pkg/trunk/highlevel/readme
===================================================================
--- pkg/trunk/highlevel/readme	                        (rev 0)
+++ pkg/trunk/highlevel/readme	2008-07-03 08:23:55 UTC (rev 1246)
@@ -0,0 +1,3 @@
+this directory is meant to contain high-level stuff, i.e. software that views
+the robot in very abstract terms, like "drive to XY on a map" or 
+"open the door in front of you" or "pick up the stapler in front of you"

Added: pkg/trunk/highlevel/rubot/manifest.xml
===================================================================
--- pkg/trunk/highlevel/rubot/manifest.xml	                        (rev 0)
+++ pkg/trunk/highlevel/rubot/manifest.xml	2008-07-03 08:23:55 UTC (rev 1246)
@@ -0,0 +1,13 @@
+<package>
+  <description>
+  A rubot is a ruby-controlled abstract robot. The concept is just to have a
+  few dumb ruby files for scripting lower-level (not necessarily simple)
+  actions together to make demos. For example, "drive to XY, then open the door
+  in front of you, then drive to another XY." This is not trying to compete
+  with more sophisticated algorithsm like TR or whatever; it's just a way to 
+  slap together a few actions to show them off for a demo.
+  </description>
+  <author>Morgan Quigley</author>
+  <license>BSD</license>
+</package>
+

Added: pkg/trunk/highlevel/rubot/ronsole
===================================================================
--- pkg/trunk/highlevel/rubot/ronsole	                        (rev 0)
+++ pkg/trunk/highlevel/rubot/ronsole	2008-07-03 08:23:55 UTC (rev 1246)
@@ -0,0 +1,7 @@
+#!/usr/bin/env ruby
+$:.push(`rospack find rubot`.strip)
+require 'rubot/stair1.rb'
+puts "You are now operating a STAIR1 robot"
+r = Stair1.new
+r.console
+


Property changes on: pkg/trunk/highlevel/rubot/ronsole
___________________________________________________________________
Name: svn:executable
   + *

Added: pkg/trunk/highlevel/rubot/rubot/rubot.rb
===================================================================
--- pkg/trunk/highlevel/rubot/rubot/rubot.rb	                        (rev 0)
+++ pkg/trunk/highlevel/rubot/rubot/rubot.rb	2008-07-03 08:23:55 UTC (rev 1246)
@@ -0,0 +1,41 @@
+require 'irb'
+require 'irb/completion'
+
+module IRB
+  def IRB.start_session(*args)
+    unless $irb
+      IRB.setup nil
+    end
+    workspace = WorkSpace.new(*args)
+    $irb = Irb.new(workspace)
+    @CONF[:MAIN_CONTEXT] = $irb.context
+    trap 'INT' do
+      $irb.signal_handle
+    end
+    catch :IRB_EXIT do
+      $irb.eval_input
+    end
+  end
+end
+
+class Rubot
+  attr_accessor :actions
+  def initialize
+    @actions = Array.new
+  end
+  def register_action name, help
+    @actions << [name, help]
+  end
+  def console
+    IRB.start_session(self)
+  end
+  def show_actions
+    puts
+    puts "Here are your actions:"
+    puts "----------------------"
+    actions.each {|a| puts a[1]}
+    puts "----------------------"
+    nil
+  end
+end
+

Added: pkg/trunk/highlevel/rubot/rubot/stair1.rb
===================================================================
--- pkg/trunk/highlevel/rubot/rubot/stair1.rb	                        (rev 0)
+++ pkg/trunk/highlevel/rubot/rubot/stair1.rb	2008-07-03 08:23:55 UTC (rev 1246)
@@ -0,0 +1,32 @@
+require(`rospack find rubot`.strip + "/rubot/rubot.rb")
+
+class Stair1 < Rubot
+  def initialize
+    super
+    register_action('deadreckon', 'deadreckon RANGE BEARING FINALHEADING')
+    register_action('inventory', 'inventory')
+  end
+  def navigate(x, y, th)
+    puts "stair1 navigate to #{x}, #{y}, #{th}"
+    system "#{`rospack find mux`.strip}/switch mux:=velMux wavefrontVel"
+    system "#{`rospack find wavefront_player`.strip}/query_wavefront #{x} #{y} #{th}"
+  end
+  def deadreckon(range, bearing, final_heading)
+    puts "stair1 deadreckon to #{range}, #{bearing}, #{final_heading}"
+    system "#{`rospack find mux`.strip}/switch mux:=velMux deadReckonVel"
+    system "#{`rospack find deadreckon`.strip}/test_deadreckon_service #{range} #{bearing} #{final_heading}"
+  end
+  def inventory
+    puts ""
+    puts "You are carrying:"
+    puts "-----------------"
+    puts "segway"
+    puts "laser"
+    puts "manipulator"
+    puts "stereo camera"
+    puts "PTZ camera"
+    puts "mono camera"
+    puts "-----------------"
+    puts ""
+  end
+end

Added: pkg/trunk/highlevel/rubot/test/assimilate
===================================================================
--- pkg/trunk/highlevel/rubot/test/assimilate	                        (rev 0)
+++ pkg/trunk/highlevel/rubot/test/assimilate	2008-07-03 08:23:55 UTC (rev 1246)
@@ -0,0 +1,8 @@
+#!/usr/bin/env ruby
+$:.push(`rospack find rubot`.strip)
+require 'rubot/stair1.rb'
+
+r = Stair1.new
+r.navigate(24, 19, 0.6)
+#r.deadreckon(1,2,3)
+#r.drive(4,5,6)


Property changes on: pkg/trunk/highlevel/rubot/test/assimilate
___________________________________________________________________
Name: svn:executable
   + *

Added: pkg/trunk/highlevel/rubot/test/platform_stage.xml
===================================================================
--- pkg/trunk/highlevel/rubot/test/platform_stage.xml	                        (rev 0)
+++ pkg/trunk/highlevel/rubot/test/platform_stage.xml	2008-07-03 08:23:55 UTC (rev 1246)
@@ -0,0 +1,8 @@
+<launch>
+  <node pkg="rosstage" type="rosstage" args="$(find 2dnav-stage)/willow-erratic.world"/>
+  <node pkg="map_server" type="map_server" args="$(find 2dnav-stage)/willow-full.png 0.1"/>
+  <node pkg="amcl_player" type="amcl_player"/>
+  <node pkg="wavefront_player" type="wavefront_player cmd_vel:=wavefrontVel"/>
+  <node pkg="nav_view" type="nav_view"/>
+  <node pkg="mux" type="mux" args="cmd_vel velMux wavefrontVel deadReckonVel"/>
+</launch>

Added: pkg/trunk/highlevel/rubot/test/simple
===================================================================
--- pkg/trunk/highlevel/rubot/test/simple	                        (rev 0)
+++ pkg/trunk/highlevel/rubot/test/simple	2008-07-03 08:23:55 UTC (rev 1246)
@@ -0,0 +1,7 @@
+#!/usr/bin/env ruby
+$:.push(`rospack find rubot`.strip)
+require 'rubot/stair1.rb'
+
+r = Stair1.new
+r.deadreckon(1,2,3)
+r.drive(4,5,6)


Property changes on: pkg/trunk/highlevel/rubot/test/simple
___________________________________________________________________
Name: svn:executable
   + *


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