ros-robot-inference

Robot behavior inference system based on ROS.

Given the probalistic model of a robot (e.g. robot.py) and the observed position series (e.g. test.txt), infer the actual behavior of the robot.

instruction

install ROS

1. install ROS following instrucitons in http://wiki.ros.org/ROS/Installation
2. create a catkin workspace catkin_ws following instrucitons in http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace

build the package

1. put robot_inference under catkin_ws/src directory
2. cd to catkin_ws
3. source devel/setup.bash
4. catkin_make
5. cd src/robot_inference/scripts
6. chmod +x *.py
7. roscd robot_inference

run the robot inference system

run from rosrun

1. in a new terminal or screen run roscore
2. in a new terminal or screen (build the package first), run rosrun robot_inference robot_inference_server.py
3. [c++ client] in a new terminal or screen (build the package first), roscd robot_inference/src, run rosrun robot_inference robot_inference_client [observation file] e.g. under robot_inference/src directory rosrun robot_inference robot_inference_client test.txt
4. [python client] in a new terminal or screen (build the package first), roscd robot_inference, run rosrun robot_inference robot_inference_client.py [observation file] e.g. under robot_inference directory rosrun robot_inference robot_inference_client.py sample/test.txt

run from roslaunch (using python client)

1. build the package, roscd robot_inference
2. ROS_HOME=`pwd` roslaunch robot_inference robot_inference.launch a:="[observation file]" e.g. under robot_inference directory ROS_HOME=`pwd` roslaunch robot_inference robot_inference.launch a:="sample/test.txt". Information received by client is displayed on screen.

file system

robot_inference

ROS package

robot_inference/CMakeLists.txt

build information

robot_inference/package.xml

package information

robot_inference/package.xml

package information

robot_inference/launch/robot_inference.launch

launch file

robot_inference/srv/Inference.srv

service

robot_inference/scripts/robot.py

robot model

robot_inference/scripts/robot_inference_server.py

robot inference server

robot_inference/scripts/robot_inference_client.py

robot inference client (python)

robot_inference/src/robot_inference_client.cpp

robot inference client (c++)

robot_inference/scripts/test.txt

test obervations. each line is a pair of coordinates of observed position