Adding new robocup scenarios

mas-domestic.rosinstall

@@ -42,6 +42,10 @@
     local-name: ftsm
     uri: https://github.com/b-it-bots/ftsm.git
     version: master
+- git:
+    local-name: topological_map
+    uri: https://github.com/b-it-bots/topological_map.git
+    version: master
 
 - git:
     local-name: zbar_ros

mdr_environments/go-2019/map.yaml

@@ -0,0 +1,7 @@
+image: map.pgm
+resolution: 0.050000
+origin: [-51.224998, -51.224998, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

mdr_environments/go-2019/navigation_goals.yaml

@@ -0,0 +1,120 @@
+BED:
+  - 4.30513
+  - -4.279185
+  - -1.051442
+INSIDE_ARENA:
+  - 4.019433
+  - -2.043573
+  - -2.651636
+KITCHEN:
+  - -1.652011
+  - -6.342187
+  - -1.099025
+OUTSIDE_ARENA:
+  - -4.457571
+  - -0.05934405
+  - 2.034444
+KITCHEN_TABLE_RIGHT:
+  - -0.9037232
+  - -8.641444
+  - 2.065464
+KITCHEN_TABLE_FRONT:
+  - 0.2742174
+  - -6.80092
+  - -2.604696
+KITCHEN_CABINET:
+  - 0.7235541
+  - -7.542412
+  - -1.104489
+FIND_PEOPLE:
+  - -0.320346
+  - -3.460586
+  - 3.00374
+RIGHT_ARMCHAIR:
+  - -3.789047
+  - -3.360115
+  - -2.616891
+TV_TABLE:
+  - -2.29401
+  - -0.5987632
+  - 0.4856576
+BAR_TABLE:
+  - 0.1259053
+  - 0.3225024
+  - 2.626839
+DESK:
+  - 3.031386
+  - -6.142125
+  - -1.065139
+HIGH_TABLE:
+  - -3.612018
+  - -5.00376
+  - -1.828644
+BAR:
+  - 1.054396
+  - -0.9377503
+  - 1.585289
+INSPECTION_AREA:
+  - -1.536159
+  - -3.74556
+  - 2.088064
+LIVINGROOM:
+  - -1.745905
+  - -3.594855
+  - 2.841857
+SIDE_TABLE:
+  - 4.682122
+  - -4.174587
+  - 0.4781403
+KITCHEN_TABLE_BACK:
+  - -2.715386
+  - -8.625648
+  - 0.5247045
+BEDROOM:
+  - 2.38169
+  - -5.25634
+  - -0.1241464
+LEFT_ARMCHAIR:
+  - -3.458107
+  - -3.187092
+  - 1.841441
+COFFEE_TABLE_LEFT:
+  - -4.295843
+  - -1.556026
+  - -1.716217
+COFFEE_TABLE_FRONT:
+  - -4.00686
+  - -3.047848
+  - 2.429445
+BOOKCASE:
+  - 0.04338479
+  - -3.72513
+  - -1.065139
+SIDEBOARD:
+  - -1.365344
+  - -2.700144
+  - 0.471772
+SECOND_DOOR:
+  - -4.023154
+  - -1.022106
+  - 2.03444
+ENTRY:
+  - 4.786344
+  - -1.606301
+  - -2.590502
+Sofa:
+  - 1.3452
+  - 0.7607408
+  - 0.9141445
+CUPBOARD:
+  - 2.426733
+  - -0.4882817
+  - 0.4856612
+HALLWAY:
+  - 2.075034
+  - -2.545136
+  - -2.684174
+KITCHEN_TABLE_LEFT:
+  - -1.9157
+  - -6.802622
+  - -1.058688

mdr_environments/launch/rviz.launch

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="robot_env" default="$(optenv ROBOT_ENV !!NO_ROBOT_ENV_SET!!)" />
+    <arg name="map" default="$(find mdr_environments)/$(arg robot_env)/map.yaml" />
+
+    <!-- map server -->
+    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map)"/>
+
+    <!-- Visualize the navigation goals -->
+    <node pkg="mcr_navigation_tools" name="pose_visualiser" type="pose_visualiser" output="screen">
+        <param name="pose_frame" value="map" />
+        <param name="pose_description_file" value="$(find mdr_environments)/$(arg robot_env)/navigation_goals.yaml" />
+    </node>
+
+
+</launch>

mdr_environments/rheinbach/map.yaml

@@ -0,0 +1,7 @@
+image: map.pgm
+resolution: 0.050000
+origin: [-51.224998, -51.224998, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

mdr_environments/rheinbach/navigation_goals.yaml

@@ -0,0 +1,36 @@
+ENTRANCE:
+  - -5.580067
+  - 17.33464
+  - 2.9797
+BOOTH:
+  - 3.073195
+  - 1.848558
+  - 1.575188
+PLACING_TABLE:
+  - -0.2367148
+  - -0.4022798
+  - -2.471963
+STAIRCASE:
+  - -0.7695603
+  - 12.30903
+  - 2.609567
+H1:
+  - 5.497872
+  - 9.701932
+  - 0.09035287
+TEST:
+  - -3.402089
+  - 10.79771
+  - -1.947286
+PICKING_TABLE:
+  - 0.1512768
+  - 0.3486245
+  - -0.07875043
+H5:
+  - 0.02695501
+  - 7.02618
+  - -3.125391
+CATERING:
+  - 4.951392
+  - 4.348834
+  - 0.1132986

mdr_hri/mdr_mbot_interface/package.xml

@@ -4,50 +4,10 @@
   <version>0.0.0</version>
   <description>The mdr_mbot_interface package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="lucy@todo.todo">lucy</maintainer>
+  <maintainer email="robotics@inf.h-brs.de">MAS robotics</maintainer>
 
+  <license>GPLv3</license>
 
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/mdr_mbot_interface</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
@@ -56,10 +16,5 @@
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
+  <export></export>
 </package>

mdr_hri/mdr_mbot_logger/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mdr_mbot_logger) 
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+)
+
+catkin_python_setup()
+
+catkin_package(
+  CATKIN_DEPENDS
+)
+

mdr_hri/mdr_mbot_logger/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mdr_mbot_logger</name>
+  <version>0.0.0</version>
+  <description>The mdr_mbot_logger package</description>
+
+  <maintainer email="robotics@inf.h-brs.de">MAS robotics</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export></export>
+</package>

mdr_hri/mdr_mbot_logger/ros/launch/house_keeper_logger.launch

@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+
+    <!--Launch mbot_logger -->
+    <include file="$(find mdr_mbot_logger)/ros/launch/mbot_logger.launch"> </include>
+
+    <!--Launch speech recognition -->
+    <include file="$(find mdr_speech_recognition)/ros/launch/speech_recognition.launch"> </include>
+
+    <!--Launch mbot -->
+    <include file="$(find mbot_nlu)/ros/launch/mbot_nlu.launch">
+        <arg name="nlu_classifier" value="erick_gpsr" />
+    </include>
+</launch>

mdr_hri/mdr_mbot_logger/ros/launch/mbot_logger.launch

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- NLU : Natural Language understanding -->
+    <arg name="ns" default="hri"/>
+
+    <!-- the string containing the sentence from which the intention and args will get extracted -->
+    <arg name="intention_input" default="/understood_intention" />
+
+    <arg name="recognized_sentence" default="/speech_recognizer" />
+
+    <!-- mbot natural language understanding, inputs text, outputs intention and arguments -->
+    <node ns="$(arg ns)" pkg="mdr_mbot_logger" type="mbot_logger" name="mdr_mbot_logger" respawn="true" output="screen">
+        <remap from="~input_interpretation" to="$(arg intention_input)" />
+        <remap from="~input_sentence" to="$(arg recognized_sentence)" />
+        <param name="log_file" type="str" value='$(find mdr_mbot_logger)/ros/logs/nlu_logger.txt' />
+    </node>
+
+</launch>
+
+

mdr_hri/mdr_mbot_logger/ros/scripts/mbot_logger

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+
+import rospy
+from mdr_mbot_logger.mbot_logger import MbotLogger
+
+if __name__ == '__main__':
+    rospy.init_node('mbot_logger', anonymous=False)
+    logger = MbotLogger()
+    logger.wait_for_information()
+