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NMAI-lab / saviRoomba

Integration of BDI with the iRobot Create (Roomba) robot.
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Action translator #27

Closed Simon-Yacoub closed 3 years ago

Simon-Yacoub commented 3 years ago

Updated Action Translator to comply so it now uses action(parameter) format and I have added the new drivexy(x,y) action for when you want to give specific x and y inputs instead of generic inputs like "forward". I have also landed on a combination of both using regex and comparing strings to translate actions.

Simon-Yacoub commented 3 years ago

Here are all of the commands that can be interpreted by the action translator:

drivexy(x,y) - Drive the robot linearly with x(+ forward, - backward) and angularly with y(+ right, - left)
drive(forward) - Drive the robot forward
drive(stop) - Stops the robot
drive(backward) - Drive the robot backward
drive(sleft) - Drive the robot slightly left
drive(sright) - Drive the robot slightly right
drive(bleft) - Drives the robot back and a little left. This is used when the robot gets to close to the wall and needs to realign
drive(avoidright) - Drives in an arc to avoid an obstacle to the robots right.
turn(left) - Does a 45 degree turn left (stops robot first)
turn(right) - Does 45 degree turn right (stops robot first)
station(dock) - Docks the robot
station(undock) - Undocks the robot
pgavigan commented 3 years ago

Issue when trying to launch: ERROR: cannot launch node of type [saviRoomba/ActionTranslator.py]: can't locate node [ActionTranslator.py] in package [saviRoomba]

Simon-Yacoub commented 3 years ago

Are you still getting this error? I have checked out the branch and made some changes and it is working. First, I double checked the name of the actionTranslator.py script was the same in the roomba.launch file. Then, I did $ chmod +x actionTranslator.py and $ dos2unix actionTranslator.py. Let me know if you want me to push it and feel free to get in touch with me if you want to troubleshoot together.

Simon-Yacoub commented 3 years ago

Also, I am considering moving all scripts into the scripts folder and getting rid of the sensors and Translators folders. This makes it easier to find the scripts and is also important for Docker since it will need all py files in one folder where the Dockerfile is.

pgavigan commented 3 years ago

Are you still getting this error? I have checked out the branch and made some changes and it is working. First, I double checked the name of the actionTranslator.py script was the same in the roomba.launch file. Then, I did $ chmod +x actionTranslator.py and $ dos2unix actionTranslator.py. Let me know if you want me to push it and feel free to get in touch with me if you want to troubleshoot together.

Thanks, I'm troubleshooting a bit on my own (waiting for a catkin_make at the moment). I'll let you know if I get it working.

Simon-Yacoub commented 3 years ago

Sounds good.

pgavigan commented 3 years ago

In testing

pgavigan commented 3 years ago

In testing

  • drivexy(1,1) didn't seem to do anything

This command seems to be missing from the ActionTranslator

pgavigan commented 3 years ago

In testing

  • drivexy(1,1) didn't seem to do anything

This command has parameter limits that I was unaware of. The action works. The limits should be documented

drive(avoidRight) is not responding perhaps also add drive(bright) to the actions

--- AvoidRight was not responding because the command is avoidright, all lower case.

pgavigan commented 3 years ago

I troubleshooted and resolved most of the issues I had.

Two remaining issues:

  • parameter limits on drivexy need to be documented
  • drive(avoidRight) does not seem to be working

Otherwise, this is OK to merge.

Resolved issue with drivexy comments.