HRI-Pepper Waiter

Project for HRI course.
Look at video preview for a demo of the software.
Refer to the report for a description of the project.

How to run the application

Run the docker image

Open a terminal

# Make sure ctc-linux-...zip, etc are in ./hri_software/docker/downloads
cd ./hri_software/docker
./build.bash # build the latest version
./run.bash
docker exec -it pepperhri tmux

Run NAOqi - inside docker image

Inside the docker terminal

cd /opt/Aldebaran/naoqi-sdk-2.5.5.5-linux64
./naoqi

Run simulator

Open Android Studio with pepper sdk installed

• Tools > Pepper SDK > Emulator > OK

Run scripts in the naoqi simulator

Inside the docker terminal press Ctrl+b, c (this creates a new terminal inside docker via tmux)

export PEPPER_IP=127.0.0.1 #simulation mode
cd ~/playground
python file.py

Install modim

Install tornado dependency

wget  https://bootstrap.pypa.io/pip/2.7/get-pip.py
sudo python2 get-pip.py
pip2 install tornado

Run nginx web server

Inside a new terminal run the docker image for nginx:

export MODIM_HOME=/path/to/modim # local path to modim

# Run the web server
cd $MODIM_HOME/docker
./run_nginx.bash

sometimes the build fails due to other processes listening on localhost port 80, then to stop them execute:

sudo lsof -t -i tcp:80 -s tcp:listen | sudo xargs kill

To check if the web server is running open a browser at URL http://<IP_address>/<demo_folder> (IP_address can be localhost or 127.0.0.1 for the robot)

Run MODIM web server

Copy the modim folder inside the playground (/home/playground) folder.

Inside the docker terminal press Ctrl+b, c (this creates a new terminal inside docker via tmux):

export MODIM_HOME=/home/robot/playground/modim # docker path to modim
cd $MODIM_HOME/src/GUI
python ws_server.py -robot pepper

Run script for modim

Inside the docker terminal press Ctrl+b, c (this creates a new terminal inside docker via tmux):

export MODIM_HOME=/home/robot/playground/modim
cd /home/robot/playground/html/src/waiter/scripts
python demo1.py