Advanced demo with a Pioneer P3DX

While the Basic demo with a Pioneer P3DX provides a first real-world scenario using the SmartSoft-Framework, this section provides more advanced demos. Within this section there are four different demos.
Each demo runs separatly. It is not nessesary to restart the components to run the scenarios in one single run.

Hint: this example is described step by step in the tutorials Lesson 1 for the VMware Installation. Tutorials

Our reference robot setup:

The environment we run the demos in.

Involved Components:

  • smartPioneerBaseServer
  • smartLaserLMS200Server
  • smartMapperGripMap
  • smartPlannerBreadthFirstSearch
  • smartCdlServer
  • smartJoystickServer
  • smartExampleJoystickNavigationClient
  • smartSpeechMaryOutputServer
  • smartRobotConsole

Before running the demo:

  • Be sure that the interface-devices of your robot and the Laserscanner are set correctly. Please check:
        $SMART_ROOT/src/components/SmartPioneerBaseServer/SmartPioneerBaseServer.ini
        $SMART_ROOT/src/components/SmartLaserLMS200Server/SmartLaserServer.ini 

Run the first demo:

The first demo presents the speech output component.

  • Be sure that the MARY server is running and the voices configered in $SMART_ROOT/src/components/SmartSpeechMaryOutputServer/SmartSpeechMaryOutputServer.ini are installed correctly! (more information on MARY)
  • Now run the components in the following order:
        # cd $SMART_ROOT
        # xterm -e bin/smartPioneerBaseServer &
        # xterm -e bin/smartLaserLMS200Server &
        # xterm -e bin/smartMapperGripMap &
        # xterm -e bin/smartPlannerBreadthFirstSearch &
        # xterm -e bin/smartCdlServer &
        (# xterm -e bin/smartSpeechMaryOutputServer &)
        # xterm -e bin/smartRobotConsole &
    

Configure and start the demo using the smartRobotConsole:

  • choose "99 - Demos" to get the list of the demos:
  • now choose "(1) Demo 1 Introduction robot speechoutput”

Run the second demo:

In the second demo the robot will move to points entered by user while avoiding collisions.

  • If you want to use the speech output component be sure that the MARY server is running and the voices configered in the $SMART_ROOT/src/components/smartSpeechMaryOutputServer/smartSpeechMaryOutputServer.ini are installed correctly!
  • Now run the components:
        # cd $SMART_ROOT
        # xterm -e bin/smartPioneerBaseServer &
        # xterm -e bin/smartLaserLMS200Server &
        # xterm -e bin/smartMapperGripMap &
        # xterm -e bin/smartPlannerBreadthFirstSearch &
        # xterm -e bin/smartCdlServer &
        (# xterm -e bin/smartSpeechMaryOutputServer &)
        # xterm -e bin/smartRobotConsole &
    

Configure and start the demo using the smartRobotConsole:

  • choose "99 - Demos" to get the list of the demos:
  • now choose "(2) Demo 2 Planner-CDL GOTO"
  • choose wether you want to use the speech output component: "Activate speech output? (y/n): "
  • now enter the goal coordinates measured in millimeter from the initial position (x:0 y:0) of the robot:
  • (1000)(0)-> set the goal 1m ahead of the robot
  • the robot will move to the entered position immediately
  • if the speech output is activated the robot will tell acoustically when the goal is reached
  • to move the robot to another goal choose "Enter Goal? (y/n): " y and enter the coordinates
  • the demo stops by entering "n" if you are asked wether you want to enter an goal.

Run the third demo:

In the third demo the same behavior as in the basic demo is presented, the robot drives maximising his translation velocity while avoiding collisions.

  • Now run the components:
        # cd $SMART_ROOT
        # xterm -e bin/smartPioneerBaseServer &
        # xterm -e bin/smartLaserLMS200Server &
        # xterm -e bin/smartMapperGripMap &
        # xterm -e bin/smartPlannerBreadthFirstSearch &
        # xterm -e bin/smartCdlServer &
        # xterm -e bin/smartRobotConsole & 
    

Configure and start the demo using the smartRobotConsole:

  • choose "99 - Demos" to get the list of the demos:
  • now choose "(3) Demo 3 CDL Reactive Mode"
  • to finaly start the demo set the CDL in the moverobot state in the Main Menu:
  • choose "CDL state" and "moverobot"
  • to stop the demo set the CDL in neutral state in the Main Menu:
  • choose "CDL state" and "neutral"

Run the fourth demo:

In the fourth demo the robot is controlled by the user via an joystick, avoiding collisions.

  • Be sure that the interface-devices of your joystick is set correctly. Please check:
        $SMART_ROOT/src/components/SmartJoystickServer/SmartJoystickServer.ini 
  • Now run the components:
        # cd $SMART_ROOT
        # xterm -e bin/smartPioneerBaseServer &
        # xterm -e bin/smartLaserLMS200Server &
        # xterm -e bin/smartMapperGripMap &
        # xterm -e bin/smartPlannerBreadthFirstSearch &
        # xterm -e bin/smartCdlServer &
        # xterm -e bin/smartJoystickServer &
        # xterm -e bin/smartExampleJoystickNavigationClient &
        # xterm -e bin/smartRobotConsole &
    

Configure and start the demo using the smartRobotConsole:

  • choose "99 - Demos" to get the list of the demos:
  • now choose "(4) Demo 4 Cdl Joystick Mode"
  • Refer to Tutorials Lesson 1 which describes this example inside the VMware Installation