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Litbot-software

Litbot Software

Requirements

  • For NAO :
    • ros-indigo-perception or ros-kinetic-perception packages
    • ros-kinetic-naoqi-libqi package
    • nao SDK (2.1.4.3 or 2.4.1)
  • For Lito :
  • Cuda 9.0 Cidnn 7
  • Qt4 or Qt5
  • Boost
  • libsndfile, libfftw3, libsdl, ncurses5
  • OpenCV
  • OpenAl
  • google-cloud-speech (pip + opencv-python)
  • dlib face recogntion from https://github.com/davisking/dlib.git

Get sources and compile


git clone git@gitlab.inria.fr:perception-ral/litbot.git
cd litbot
git submodule init
git submodule update
cd ros_workspace
./pre_compile_script.sh
source /opt/ros/kinetic/setup.bash
catkin_make
catkin_make install

Run ROS nodes provided by Litbot

ROS Setup

First you need to set ROS related variables

export ROS_IP=IP.OF.YOUR.HOST
export ROS_MASTER_URI=http://IP.OF.YOUR.HOST:11311

Source ROS setup related to litbot library

source /YOUR/PATH/TO_INSTALL_DIR/setup.bash

Then run ros core node

roscore &

Lito robot Setup

This setup considers the case where the video, audio streamer, audio power, motor card are plugged in an usb hub connected directly to a host.
Beware : you need to power on the usb hub (otherwise you will not have enough power for motor and audio)

  1. Check that the usb hub is plugged to your host and that all micro cable, micro power cable, video cable, motor card are plugged and switched on on the usb hub
  2. Check video device : by default video driver connected to device /dev/video0

    sudo apt-get install v4l-utils
    v4l2-ctl --list-devices

    Get device value for "Logitech Webcam C930e" (name of camera on Lito)
  3. Check audio device
    Use this command to get info on audio devices known by your host

    pacmd list-sources | grep -e 'index:' -e device.string -e 'name:'

    Get device string value for "alsa_input.usb-miniDSP_USBStreamer_00001-00.multichannel-input"

Nao Setup

  • Check NAO connection and get its IP
    • If connected locally to your host
      1. push NAO chest button and write down the IP address NAO will tell you
      2. Or you can try using nmap command such as

        sudo apt-get install nmap
        nmap -F --min-parallelism 12 169.254.247.0/24

        Usually NAO IP address is located at 169.254.247.xxx
    • If connected to Perception vlan
      • naoears IP address = 194.199.23.14

Graphical IHM “Demo_maker”

Set these environment variables

export DEMOMAKER_PATH=/YOUR/PATH/TO_INSTALL_DIR/demo_maker/
export DEMOMAKER_PLUGINS_PATH=/YOUR/PATH/TO_INSTALL_DIR/demo_maker/plugins/

Run Demo_maker node (ie the graphical ihm)

rosrun litbot demo_maker -df ../global_workspace/demo_config/litbot_new_debug.demo -ns litbot --node-configuration ~/.demo_maker/config/litbot_new_debug_musca.config --ros-auto-init

PDF Documentation

Litbot documentation.
Demo_maker quick start guide.