Knowledge Manager

KM agent code

Environment setting

• OS : Ubuntu 14.04 LTS

• Install ROS Indigo

  • Setup your sources.list

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    

  • Setup your key

    sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
    

  • Installation

    sudo apt-get update
    sudo apt-get upgrade
    sudo apt-get install ros-indigo-desktop-full
    

    • If you fail to install with the command above, execute following command

       sudo apt-get install libsdformat1
      

  • Initialize rosdep

    sudo rosdep init
    rosdep update
    

  • Environment setup

    echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
    source ~/.bashrc
    

  • Getting rosinstall

    sudo apt-get install python-rosinstall
    

  • Check roscore

    roscore
    

    PARAMETERS
     *  /rosdistro: indigo
     *  /rosversion: 1.11.21
    
    NODES
    
    auto-starting new master
    process[master]: started with pid [...]
    ROS_MASTER_URI=http://.../
    
    setting /run_id to ...
    process[rosout-1] started with pid [...]
    started core service [/rosout]
    ...
    

• Install Turtlebot Package

  • Install turtlebot package

    sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs
    

  • Install Kobuki package

    sudo apt-get install ros-indigo-kobuki*
    

• Install rosjava_core

  • Prerequisites

    sudo pip install --upgrade sphinx Pygments 
    

  • Non-ROS Installation

    git clone https://github.com/rosjava/rosjava_core
    cd rosjava_core
    git checkout -b indigo origin/indigo
    

  • Building

    To build rosjava_core and install it to your local Maven respository, execute gradle wrapper:

    cd rosjava_core
    ./gradlew install
    

    To build the documentation:

    ./gradlew docs
    

    To run the tests:

    ./gradlew test
    

    To generate the Eclipse project files:

    ./gradlew eclipse
    

• Install Apache Jena

  • Download Apache jena [here]

• Install Redis

  sudo add-apt-repository ppa:chris-lea/redis-server
  sudo apt-get update
  sudo apt-get install build-essential
  sudo apt-get install redis-server
  

• Import rosjava_core

  • apache_xmlrpc_client
  • apache_xmlrpc_common
  • apache_xmlrpc_server
  • rosjava

• Import ARBIFramework-0.8

Usage

• Turtlebot tele-operation test (laptop)

  • Launch roscore

    roscore
    

  • Create Kobuki port

    rosrun kobuki_ftdi create_udev_rules
    

  • Disconnect usb cable and reconnect it and check kobuki port

    ls -l /dev/kobuki
    

    lrwxrwxrwx 1 root root 7 Aug 24 14:26 /dev/kobuki -> ttyUSB0
    

  • Launch Kobuki

    roslaunch kobuki_node minimal.launch
    

  • Control kobuki with keyboard operation

    roslaunch kobuki_keyop keyop.launch
    

    • Arrow(up) : forward linear velocity increase
    • Arrow(down) : backward linear velocity increase
    • Arrow(left) : counter-clockwise angular velocity increase
    • Arrow(right) : clockwise angular velocity increase
    • Spacebar : reset linear and angular velocity
    • d : disable motors
    • e : enable motors
    • q : quit

• Ros node usage

  • NodeMain implementation

import org.ros.namespace.GraphName;
import org.ros.node.ConnectedNode;
import org.ros.node.DefaultNodeMainExecutor;
import org.ros.node.Node;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMain;
import org.ros.node.NodeMainExecutor;

public class MyNode implements NodeMain {

	public MyNode(){
	
	}
	
	@Override
	public GraphName getDefaultNodeName() {
		return new GraphName("my_node");
	}

	@Override
	public void onStart(ConnectedNode node) {
		// TODO Auto-generated method stub
	}

	@Override
	public void onShutdown(Node node) {
		// TODO Auto-generated method stub
	}

	@Override
	public void onShutdownComplete(Node node) {
		// TODO Auto-generated method stub
	}

	@Override
	public void onError(Node node, Throwable throwable) {
		// TODO Auto-generated method stub
	}
}

public static void main(String[] args) {
	MyNode testNode = new MyNode();
	
	NodeMain commander = testNode;
	NodeConfiguration conf = NodeConfiguration.newPrivate();
	NodeMainExecutor executor = DefaultNodeMainExecutor.newDefault();
	executor.execute(commander, conf);
	executor.shutdown();
	
}

• KM code usage

  • run roscore on terminal

     roscore
    

  • run Launcher.java (ARBIFramework-0.8)

  • run KmStarter.java (KnowledgeManager)

• Test DummyTaskManager

  • run roscore on terminal

     roscore
    

  • run Launcher.java (ARBIFramework-0.8)

  • run KmStarter.java (KnowledgeManager)

  • run DummyTmAgent.java (DummyTaskManager)