Cognitive Robotics: Lab 9

Part I: Looking Glass "Hello World"

1. Compile the behavior LGdemo:

#include "Behaviors/StateMachine.h"

#nodeclass LGdemo : StateNode, LGmixin()

  #shortnodeclass DisplayMessage : LGNode : DoStart
    displayHtmlText("<html><body>Hello world!</body></html>");

  #nodemethod setup
    #statemachine
      StateNode =B(GreenButOffset)=> DisplayMessage
    #endstatemachine

#endnodeclass

REGISTER_BEHAVIOR(LGdemo);

Notice that when you upload a file from the robot to the Looking Glass client you must give the path name beginning with the ms directory. The Looking Glass client stores uploaded files in a temporary directory on the workstation, and does not know the path they originated from on the robot. So when you display a file that has been uploaded this way, (e.g. displayHtmlFile()) do not include path name information.

2. On the robot (not your AFS directory) create the subdirectory ~/project/ms/lg. Then create the file ~/project/ms/lg/file1.htm with the following content:

<html><body>
<center><font size=+5 color=red>You pressed the yellow button.</center>
</body></html>

3. Run Tekkotsu on the robot and start the LGdemo behavior, but do not push the green button yet.

4. In a separate terminal window, cd to Tekkotsu/tools/mon, then type:

 java org.tekkotsu.mon.LGClient <robot_name>

where the robot name is something like chiara3 or an IP address. Nothing will happen until the next step.

5. Now make sure the robot is un-stopped, and press the green button. A Looking Glass screen should pop up on your workstation.

6. Modify the demo to also respond to a press of the yellow button by displaying the file file1.htm. By alternating green and yellow button presses, the user should be able to switch between messages.

Part II: Speech

Modify your LGdemo program to speak some words when it displays the message on the Looking Glass. To do this you must use a SpeechNode, or write:

#include "Sound/SoundManager.h"

...

sndman->speak("Look at my display");

Part III: "Both Sides Now"

In this exercise you are going to take pictures of a landmark configuration viewed from two locations. Start by reviewing the LGmixin::uploadCameraImage function, which takes a snapshot and uploads it to the Looking Glass client as a JPEG file.

Set up two dissimilar landmarks, such as an orange can and a green game piece, so that one is to the left of the other, with a gap in between. Write a behavior to do the following:

Scan for the landmarks, and construct a world map with the landmarks on it.
Look at the landmarks, take a snapshot of the scene, and display it on the Looking Glass.
Walk through the landmarks so that they are now behind the robot. (To see how to walk relative to a landmark, take a look at the file Tekkotsu/Behaviors/Demos/Tapia/WalkToMarker.h.fsm.) Take a picture of the landmarks from this new position. Upload this picture to the Looking Glass client.
Display both landmark scenes side-by-side, so they can be easily compared.

Turn in your answers by Friday, April 2.

Dave Touretzky and Ethan Tira-Thompson