https://github.com/anchen1011/ros-robot-inference

Robot behavior inference system based on ROS
https://github.com/anchen1011/ros-robot-inference

mcmc probabilistic-graphical-models python-client robot-inference ros

Last synced: 6 days ago
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Robot behavior inference system based on ROS

• Host: GitHub
• URL: https://github.com/anchen1011/ros-robot-inference
• Owner: anchen1011
• Created: 2016-12-27T18:14:01.000Z (about 8 years ago)
• Default Branch: master
• Last Pushed: 2017-01-08T17:09:21.000Z (almost 8 years ago)
• Last Synced: 2024-11-07T23:18:25.756Z (about 2 months ago)
• Topics: mcmc, probabilistic-graphical-models, python-client, robot-inference, ros
• Language: Python
• Homepage:
• Size: 41 KB
• Stars: 0
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# 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`

3. **[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