def _main():
#init Robot
config = PepperConfiguration(roboterName)
if (not config.isAvailable()):
Logger.err(
"Main", "checkAvailability",
"name: " + config.Name + ", ip: " + config.Ip + " not reachable!")
sys.exit(1)
robot = Robot(config)
sensorhandler = SensorHandler(robot)
#sensorhandler.write_operation_modes(3.0)
sensorhandler.read_operation_modes()
def __init__(self):
self.config = PepperConfiguration(_ROBOT_NAME)
if(not self.config.isAvailable()):
Logger.err("ControlFlow", "checkAvailability", "name: " + self.config.Name + ", ip: " + self.config.Ip + " not reachable!")
sys.exit(1) #Abort since robot is not available...
self.robot = Robot(self.config)
Speech(self.robot) #Initialize Speech (static class, no reference needed)
DoorChecker(self.robot) #Initialize DoorChecker (static class, no reference needed)
TabletHandler(self.robot) #Initialize TabletHandler (static class, no reference needed)
Filetransfer(self.config) #Initialize Filetransfer (static class, no reference needed)
#self.tracer = Tracer(self.robot) # enable to gather sensor data
self.sensorhandler = SensorHandler(self.robot)
self.planner = Planner()
self.movement = Movement(self.robot)
self.poscalib = PositionCalibrator(self.robot)
self.currentpos = _START_COORDINATE
def main(pepper_name):
config = PepperConfiguration(pepper_name)
robot = Robot(config)
renate = RENATE(robot)
renate.do_wakeup()
def __init__(self):
self.config = PepperConfiguration("Porter")
robot = Robot(self.config)
self.camera = robot.ALPhotoCapture
self.tts = robot.ALTextToSpeech
self.tts.setLanguage("English")
self.audio = robot.ALAudioPlayer
def _main():
#init Robot
config = PepperConfiguration(roboterName)
if (not config.isAvailable()):
Logger.err(
"Main", "checkAvailability",
"name: " + config.Name + ", ip: " + config.Ip + " not reachable!")
sys.exit(1)
robot = Robot(config)
Speech(robot)
Filetransfer(config)
# init Door Checker
DoorChecker(robot)
robot.ALRobotPosture.goToPosture("StandInit", 1)
DoorChecker.check_door("303")
def main():
config = PepperConfiguration(PEPPER_NAME)
robot = Robot(config)
schoolboy = SchoolBoy(robot, room_orientation=SCHOOL_ON_HIS_LEFT)
schoolboy.talk_to_teacher()
a = self.motion_service.moveTo(X, Y, Theta)
t1 = time.time()
t = t1 - t0
t *= 1000
units = float(t) * (1.0 / TIME_CALIBERATED)
# TIME_CALIBERATED is an average time per m length. Need to caliberate according to the flooring.
resDist = 0
if units >= 0.2:
resDist = units
# print "dist in m : ",units
possible = True # movement possible in direction
if units < 0.2:
possible = False
units = ONEUNITDIST # NOT UPDATING AS OBSTCLE JUST IN FRONT HENCE WE DONT WANT 0 BTW GRID LINES
return [possible, units]
def run(self):
time.sleep(60)
virtualRobotConfig = PepperConfiguration("Amber")
myRobot = Robot(virtualRobotConfig)
moveHands = MoveHands(myRobot)
moveHands.run()
from pynaoqi_mate import Robot
from configuration import PepperConfiguration
config = PepperConfiguration('Amber')
pepper = Robot(config)
pepper.ALTextToSpeech.setLanguage('English')
pepper.ALAnimatedSpeech.say('hello')
lang = pepper.ALTextToSpeech.getAvailableLanguages()
pepper.ALTextToSpeech.setLanguage('German')
pepper.ALTextToSpeech.say('hallo')
from pynaoqi_mate import Robot
from configuration import PepperConfiguration
import qi
virtualRobotConfig = PepperConfiguration("Porter")
myRobot = Robot(virtualRobotConfig)
# Hands
# open
myRobot.ALMotion.openHand("RHand")
myRobot.ALMotion.openHand("LHand")
# close
myRobot.ALMotion.closeHand("RHand")
myRobot.ALMotion.closeHand("LHand")
import sys
sys.path.append('..')
import naoqi
import time
from pynaoqi_mate import Robot
from configuration import PepperConfiguration
conf = PepperConfiguration("Amber")
# robot = Robot(conf)
# Create a proxy to ALLandMarkDetection
try:
markProxy = naoqi.ALProxy("ALLandMarkDetection", conf.Ip, conf.Port)
except Exception, e:
print "Error when creating landmark detection proxy:"
print str(e)
exit(1)
# Subscribe to the ALLandMarkDetection extractor
period = 500
markProxy.subscribe("Test_Mark", period, 0.0)
memValue = "LandmarkDetected"
# Create a proxy to ALMemory.
try:
memProxy = naoqi.ALProxy("ALMemory", conf.Ip, conf.Port)
except Exception, e:
print "Error when creating memory proxy:"
print str(e)
exit(1)
class ControlFlow():
def __init__(self):
self.config = PepperConfiguration(_ROBOT_NAME)
if(not self.config.isAvailable()):
Logger.err("ControlFlow", "checkAvailability", "name: " + self.config.Name + ", ip: " + self.config.Ip + " not reachable!")
sys.exit(1) #Abort since robot is not available...
self.robot = Robot(self.config)
Speech(self.robot) #Initialize Speech (static class, no reference needed)
DoorChecker(self.robot) #Initialize DoorChecker (static class, no reference needed)
TabletHandler(self.robot) #Initialize TabletHandler (static class, no reference needed)
Filetransfer(self.config) #Initialize Filetransfer (static class, no reference needed)
#self.tracer = Tracer(self.robot) # enable to gather sensor data
self.sensorhandler = SensorHandler(self.robot)
self.planner = Planner()
self.movement = Movement(self.robot)
self.poscalib = PositionCalibrator(self.robot)
self.currentpos = _START_COORDINATE
def init(self):
global _RUN
_RUN = True
self.robot.ALRobotPosture.goToPosture(_INIT_POSTURE, 1)
self._write_actual_position(self.currentpos)
#self.sensorhandler.write_operation_modes(1.0) #Laser and Obstacle Detection Off
return True
def run(self):
sub_arrived = self.robot.ALMemory.subscriber("PeoplePerception/JustArrived")
sub_arrived.signal.connect(self.on_people_detected)
sub_tablet = self.robot.ALMemory.subscriber("FGButtonClicked")
sub_tablet.signal.connect(self.on_room_selected)
Logger.info("ControlFlow", "run", "Start FloorGuide behaviour.")
while _RUN:
pass
def on_people_detected(self, value):
Logger.info("ControlFlow", "on_people_detected", "Hello, I'm pepper. May I guide you to a room?")
self.robot.ALRobotPosture.goToPosture(_INIT_POSTURE, 1)
#show Room Selection and register call back
TabletHandler.startApp(TabletHandler.getRoomSelectionApp())
def on_room_selected(self, value):
TabletHandler.startApp(TabletHandler.getMapApp())
coordinate = self.planner.get_coor_by_room_name(value)
if coordinate != None:
Logger.info("ControlFlow", "onRoomSelected", "I will bring you to the room now. Please stand aside.")
time.sleep(3)
self.move_to_room(coordinate, value)
else:
Logger.err("ControlFlow", "onRoomSelected", "could not find specified room - abort behavior")
self.init()
def move_to_room(self, coordinate, room_name):
move_success = self.move_to_location(_START_COORDINATE, coordinate)
if move_success:
self.announce_destination(room_name)
self.go_to_start_coordinate()
def move_to_location(self, start_coordinate, end_coordinate):
coord_list = self.planner.get_coord_list(start_coordinate, end_coordinate)
Logger.debug("ControlFlow", "moveToLocation", "I have %d waypoints." % len(coord_list))
for i in range(len(coord_list)):
for cmd in self.planner.get_move_cmd_from_coord(self.currentpos, coord_list[i]):
Logger.info("ControlFlow", "moveToLocation", cmd.getText())
if not self.movement.move(cmd):
Logger.err("ControlFlow", "moveToLocation", "Could not move to the given Position. Is something in my way?")
return False
if cmd.get_isCalibrationCmd():
self.robot.ALRobotPosture.goToPosture(_INIT_POSTURE, 1)
self.poscalib.calibratePosition()
self._write_actual_position(self.currentpos)
return True
def announce_destination(self, door_name):
self.robot.ALRobotPosture.goToPosture(_INIT_POSTURE, 1)
DoorChecker.check_door(door_name)
Logger.info("ControlFlow", "announceDestination", "I found the correct room, it's directly in front of me")
time.sleep(5)
def go_to_start_coordinate(self):
Logger.info("ControlFlow", "goToStartCoordinate", "Moving back to my initial position")
self.move_to_location(self.currentpos, _START_COORDINATE)
global _RUN
_RUN = False
self.init()
def _write_actual_position(self, coordinate):
pos_obj = {}
obj = {}
obj['x'] = coordinate.getX()
obj['y'] = coordinate.getY()
obj['degrees'] = coordinate.getDegrees()
pos_obj['position'] = obj
with open(_POSITION_LOCAL, 'w') as posfile:
json.dump(pos_obj, posfile)
Filetransfer.transfer_file_from_local_to_pepper(_POSITION_LOCAL, _POSITION_REMOTE)
def __init__(self):
self.config = PepperConfiguration("Porter")
robot = Robot(self.config)
self.camera = robot.ALPhotoCapture