wiki:Projects/RCLL-WS2015
Last modified 3 years ago Last modified on 15.12.2015 15:38:25

RoboCup Logistigs League: Winter School 2015

https://www.carologistics.org/media/blog_images/IMG_20150720_135839.jpg

Slides

If you use the slides or parts of it, please give proper credit to the authors.

RoboCup Logistics League - Rules and Regulations 2015
(RoboCup Logistics League Technical Committee)
The rules of the RoboCup Logistics League as played in 2015.
Fawkes RCLL Release 2015

Source Files of Interest

Here are a few hints where to look for certain things.

  • cfg/conf.d: configuration files, in particular openprs-agent.yaml (e.g. to set mode to XOPRS for introspection)
  • src/lua/skills/robotino: skill source files where you can find documentation about the available parameters.
  • src/agents/llsf2015: the current clips-agent. Here you can see how protobuf msgs can be created and which interfaces and skills you may also want to use.

Starting the System

You can find the scripts to start the simulation in ~/fawkes-robotino/bin:

  • "./gazsim.bash -x start -n 1 -r" starts the simulation with the refbox, and one Fawkes-instance to control one robot.
  • "./skillgui" starts the skillgui to try out and monitor skills or load plugins (e.g. the openprs-agent).
  • "rosrun rviz rviz" starts the ros-visualization where you can see the navgraph and localize the first robot.
  • "./gazsim-publish-initial-pose.bash -d" localizes all robots on the default start positions.
  • 127.0.0.1:808X in any browser: Fawkes-Webview for robot number X. Here you can look into interfaces (e.g. detected light-signal in RobotinoLightInterface:/machine-signal/best) and also start plugins.

Hands on

  • source and maybe more details: https://www.kdel.org/wp/
  • Download the map from this page and copy it to the correct folder (fawkes-robotino/cfg/maps/)
  • Change the config files to this new map:
    • cd fawkes-robotino/cfg/conf.d/
    • change the cfg-value: "map_file" to the new map in the following to files
      • vi amcl.yaml
      • vi ../gazsim-configurations/gazsim-config-override.yaml
  • Get the gazebo world:
    • cd ~/gazebo-rcll/
    • git fetch
    • git checkout winter-school/hands-on
    • cange the global variables
      • vi ~/.bashrc
      • GAZEBO_WORLD_PATH=~/gazebo-rcll/worlds/halle.world
    • check by running the simulation without any robot:
      • cd fawkes-robotino/bin
      • ./gazsim.bash -x start -n 0 -r
  • Change the map file using GIMP:
    • cd fawkes-robotino/cfg/maps/
    • gimp llsf-map-halle.png
  • navgraph-basis file: vi ~/fawkes-robotino/cfg/navgraph-basis.yaml
    • Add new nodes to approach the machines in the simulation
    • Add edges between your nodes to get a useful graph for collision free navigation
  • display navgraph in rviz:
    • add, MarkerArray?
    • open skillgui: ./fawkes-robotino/bin/skillgui
    • connect to the correct robot (check your ip)
    • check green box/check-mark in the skillgui
    • enter in the field at the bottom: ppgoto{place="Exp-C1"}
    • you should see the navgraph in rviz

Skills

  • Download the map into fawkes-robotino/cfg/maps/
  • Change the config files to this new map:
    • cd fawkes-robotino/cfg/conf.d/
    • change the cfg-value: "map_file" to the new map in the following to files
      • vi amcl.yaml
      • vi ../gazsim-configurations/gazsim-config-override.yaml
    • In the amcl yaml change the origin_x and origin_y to 0 and 0
  • Download the solution of the navgraph into fawkes-robotino/cfg/
  • In the gazebo-rcll folder do a "git stash" and then "git pull --ff-only so you have bases on the machines
  • Write a skill with the following behavior:
    • Get a base from the BS
    • Bring it to the CS
    • Get the finished C0 from the other side
    • Deliver it at DS
  • If the mps_align fails, enable the plugin "gazsim-meta-vision" in the skillgui
  • Remember to localize your robot
  • Extend your skill with the following behavior:
    • Get the base with the cap from the shelf (at CS)
    • Put it in the machine (CS)
    • Get rid of the junk :)
    • Get a base from the BS
    • Bring it to the CS
    • Get the finished C0 from the other side
    • Deliver it at DS

Agent

  • Download and extract ws15.tar.gz into fawkes-robotino/src/agents/
  • Change the config file to configure another agent
    • cd fawkes-robotino/cfg/conf.d/
    • vi clips-agent.yaml
    • change agent to: ws15/llsf2015
    • Add your production rules in the file production.clp
  • You can have a look at all the other clp files to get hints
    • facts.clp contains all fact templates for structured facts
    • the old production agent is located in production-old.clp
  • start your simulation with: ./gazsim.bash -x start -r -n1 -a
  • start the game via the refbox shell that is started with your simulation
  • You can view the fact base here: http://localhost:8081/clips/agent
  • Presentation: agent.pdf
  • MPS instructions: (mps-instruction (machine ?machine) (cs-operation MOUNT_CAP))
  • More info on mps-instruction can be found in facts.clp

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