0. Install catkin tools if you havent already: https://catkin-tools.readthedocs.io/en/latest/installing.html

1. Create a ROS workspace and name it infrastructure system

mkdir -p ~/infrastructure_system/src
cd ~/infrastructure_system/
catkin build

2. Install FlexBE Binaries and clone the app to your src folder

sudo apt install ros-$ROS_DISTRO-flexbe-behavior-engine
git clone https://github.com/FlexBE/flexbe_app.git 

3. Clone this repository into your src folder

4. TODO: Still working on stable 18.04 ubuntu image with ROS for the Pi's. Will update in the future

The main purpose of this package is to handle data collection for video recording and some rosbag behavior if it needs to. Uses OpenCV to record through a camera when the action server callback is triggered. Stops when another action server callback is triggered. Handles naming of files by using the parameter server variables set in the launch file.

• This package should eventually end up on a Raspberry Pi where it will be mapped to a network drive for data storage.
• Defining location of video and rosbag storage will need to be updated to reflect this.
• Publishes feedback messages for when the camera starts recording and stops recording, eventually we may want a more elegant solution.

Contains all necessary custom ros messages for the system. All future sensor messages should be defined here.

• Eventually will need more sensor messages as needed for an individual testbed, try to follow the naming scheme being used as best you can so it is consistent.

Contains the nodes that will run on the raspberry pi and talk to the hardware. Right now there are 2 nodes, test_parameters and reset. The reset node is meant to be used as an outline for all future testbed reset nodes, put all hardware related calls within the callback of the action server. The test_parameter node is meant to recieve any pre test parameters for the physical hardware sent from flexbe and should be treated as a blueprint like reset. The test_parameter message type is an array of floats that will correspond to certain settings depending on the testbed.

• Once the hardware and raspberry pi connection has been implemented the next step would be to implement a way to modify test parameters from flexbe or whatever portal we end up using. In its current state you have to use the same parameters for every test, a simple implementation would just be to use a csv file to hold parameters for each trial and read from that. Eventually we will need a permanent solution.
• Feedback examples have been provided in both blueprint.

This is just a placeholder until a more permanent solution can be found. There is a node inside which has a simple action server, the idea is that any arm related tasks should be done within callback. One method would be to right your own seperate moveit class and call it within the callback.

• Once we figure out how end users will upload arm code this will need a complete overhaul. Treat this as a temporary solution

This contains all the necessary Flexbe states and behaviors (as well as a bunch of simple sample states you can use). It now only contains 1 behavior, System_Behaviour_Pi, the hope is that this is the only behavior we will ever need for every testbed, the only thing that will change between them is the hardware nodes in the infrastructure_raspi package. The necessary topic names are preset but you can change them if needed.

• Once we have hardware to test on we may need to make changes depending on how everything fits together.

You will need to create your own Moveit class that you can use within the action server located in arm_control its still very much under developement so Im not gonna go into too much detail until we do further testing, if you need to use it or need a Moveit class contact me and I can walk you through.

roslaunch infrastructure_flexbe_behaviors start_test.launch 

This will launch FlexBe and all of the necesary nodes for a full trial. There are 4 arguments you can pass to the launch function for different behavior:

collect_data:=true (This activates a rosbag that records all topics with the suffix "_infsensor", stored in data collection package)

name:=<string> (This is used to state the name of the test that will be used as prefixes for data files. In the future this will also be used for determining test station nodes.)
  
video:=true (You can use this to change whether or not you want to record video)
  
use_hardware:=true (This activates the rosserial node and allows you to connect with any of the physical hardware. Not yet supported)

They automatically default to false so you have to explicitly state them if you wish to use any combination of these.

After running the launch file FlexBe will pop up to use the testbed or door:

Load Behavior->System_Behaviour_Pi->Runtime Control->Change number of tests and trials to whatever youd like->Start Execution

This will eventually be the master Behavior that is used for every testbed. As mentioned above the new pi hardware is not yet supported and a couple features will need to be added once that is implemented.

This is still very much under developement so there will be bugs and things will break. I most likely forgot something on here as well so if you need to use it with an arm or have any questions feel free to contact me at navek@oregonstate.edu. Good Luck!