Course Project at Sapienza University of Rome (second semester 2018)

The code is written in Python 2 and has been tested on Ubuntu 16.04. In order to be run, it requires the following dependencies:

• Python 2.7 (NOTE: code does not work with Python 3)

• Java Runtime Environment (need 1.6 or 1.7) and Java Development Kit:

  `sudo apt-get install default-jre default-jdk`

• Python NumPy, Scipy, and wxPython:

`sudo apt-get install python-numpy python-scipy python-wxtools`

• Python Polygon2, provided inside the project folder or you can just:

`pip install Polygon2`

• ROS Kinetic (code might not work if you use other ROS versions)

• Gazebo 7 (NOTE: code was tested only on Gazebo 7.14.0)

Before running the code, make sure you have Python on your PATH and the command "python" should point to your Python 2 version (not Python 3, in case you have both installed). Follow these steps to run the code:

1. Clone this repository to your local machine

2. Go to your ROS installation, and open the turtlebot navigation parameters file (e.g. using gedit):

   cd /opt/ros/kinetic/share/turtlebot_navigation/param/

   gedit dwa_local_planner_params.yaml On this file set max_rot_vel equal to 1.0 (default is 5.0 but this causes issues in the turtlebot navigation)

3. Open a terminal and go to the project folder:

   cd your/path/to/hri_project

4. Within the project folder, make the script run.sh executable and then execute it:

   chmod +x run.sh

   ./run.sh

5. At this point, Gazebo should start along with several terminal windows that will pop up on your screen. Look for the window that asks to write your specification:

6. Type your commands on the window, pressing ENTER after each command to add it to the specification (press q and ENTER instead if you want to exit). When you are done typing commands, press CTRL+D to send the specification to the robot. Now watch the robot execute your specification in Gazebo.

Part 1

Part 2