An application that launches a cartesianServer module and a series of test modules corresponding to TaskCatchToolLib, TaskMakeUpLib, TaskNavigateLib, TaskSlidePalleteLib. This application uses a light-weight environment (see Figure 1), which as been developed specifically for running automated and path planning algorithms at low comutational cost. More...

Collaboration diagram for asibotTasks App:
ravebotPlanning-400px.png
Fig. 1 - ASIBOT automated and path planning environment for demonstrating the use of the ASIBOT Task libraries (see asibotTasks Video).

The set os tasks is actually inspired on the solution to "p0easy" on "Asibot.pddl" [thanks smorante!]:

(NAVIGATE ASIBOT0 CHAIR0 DINING_ROOM BATHROOM0)
(CATCH_TOOL ASIBOT0 CHAIR0 CONNECTORB TOOLMAKEUP)
(SLIDE_PALETTE ASIBOT0 CHAIR0 CHAIR_DOCK0 CONNECTORB BATHROOM0 PALETTE0)
(MAKE_UP ASIBOT0 CHAIR0 CHAIR_DOCK0 CONNECTORB TOOLMAKEUP BATHROOM0 PALETTE0)

Legal

Copyright: 2012 (C) Universidad Carlos III de Madrid

Author: Juan G. Victores

CopyPolicy: Released under the terms of the LGPLv2.1 or later, see license/LGPL.TXT

Installation

The application is installed when you install the applications, which for Ubuntu is done by:

make install_applications  # In-project install: No super-user permissions are required.

Adapt repos/asibot-main/share/asibotTasks/scripts/asibotTasks.xml.template to your needs or just:

cd repos/asibot-main/share/asibotTasks/scripts
cp asibotTasks.xml.template asibotTasks.xml

You will also need the cartesianServer module and asibotTasks module. For further installation steps refer to your own system installation guidelines.

Running (assuming correct installation)

First we must run a YARP name server if it is not running in our current namespace:

[on terminal 1] yarp server

Browse to repos/asibot-main/share and run yarpmanager (formerly gyarpmanager). The asibotTasks App should be available.

[on terminal 2] cd repos/asibot-main/share
[on terminal 2] yarpmanager