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tutorials:advanced:unreal [2019/05/16 18:24] – files and usage description (started) hawkintutorials:advanced:unreal [2020/01/13 08:23] – [Prerequisites] adapted the launching procedure to the new launch files. hawkin
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 +======  Using the Cram-KnowRob-VR package ======
 +
 +Tested under CRAM version v 0.7.0 
 +
 This tutorial will introduce you to the ''cram_knowrob_vr (short: kvr)'' package, which uses the data recorded in the Virtual Reality environment using [[http://robcog.org/|RobCog]], extracts information from them using [[http://www.knowrob.org/|KnowRob]] and executes the CRAM high-level-plans based on this data either on the real robot or in the CRAM [[tutorials:advanced:bullet_world|bullet world]]. This tutorial will introduce you to the ''cram_knowrob_vr (short: kvr)'' package, which uses the data recorded in the Virtual Reality environment using [[http://robcog.org/|RobCog]], extracts information from them using [[http://www.knowrob.org/|KnowRob]] and executes the CRAM high-level-plans based on this data either on the real robot or in the CRAM [[tutorials:advanced:bullet_world|bullet world]].
  
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 === Roslaunch === === Roslaunch ===
-Launch a ''roscore'' first. Then, in a new terminal for each launch file, launch the bullet_world, json_prolog and roslisp_repl+Launch a ''roscore'' first. Then, in a new terminal for each launch file, launch the simulation and roslisp_repl
 <code bash> <code bash>
-    $ roslaunch cram_bullet_world_tutorial world.launch +    $ roslaunch cram_knowrob_vr simulation.launch
-    $ roslaunch json_prolog json_prolog.launch +
     $ roslisp_repl     $ roslisp_repl
 </code> </code>
-The bullet world is needed for visualization. The json_prolog node allows us to access information in KnowRob from CRAM. +The ''simulation.launch'' includes the json_prolog node which is needed for the communication between KnowRob and CRAM. It also launches the ''bullet world simulation'' and uploads the ''robot description''. This launch file has the following parameters that can be set with its launch. The following are also the default values: 
 +  * **upload:=true** uploads the robot description if set to ''true''. Set to ''false'' if the robot description is being uploaded by another node or e.g. the real robot. 
 +  * **knowrob:=true** determines if the ''json_prolog'' node should be launched to allow communication with KnowRob. Set to ''false'' if another instance of KnowRob or json_prolog is running already. 
 +  * **boxy:=false** determines which robot description should be uploaded and used. The default case ''false'' means that the PR2 description will be used. In case of ''true'', Boxy will be used. 
  
 ==== Usage and Code ==== ==== Usage and Code ====
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 === Usage === === Usage ===
 +Here we will first explain on what needs to be done to get the robot to execute and perform a pick and place plan in the simulated bullet world. In the next paragraph, we will take a closer look at the individual source files and explain their function.
 +
 Before you load the package, navigate to the ''init.lisp'' file and set the ''*episode-path*'' parameter to the path of your episode data. This is important. Otherwise it won't be possible to load the episode data properly. Before you load the package, navigate to the ''init.lisp'' file and set the ''*episode-path*'' parameter to the path of your episode data. This is important. Otherwise it won't be possible to load the episode data properly.
  
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 </code> </code>
  
-This will create a lisp ros node, clean up the belief-state, load the episodes that get passed to the init function as a list of strings, spawn the semantic map of the episode and the items and initialize the location costmap. In the code section below it will be explained in more detail, what is loaded when.+This will create a lisp ros node, clean up the belief-state, load the episodes that get passed to the init function as a list of strings, e.g. in our case "ep1", spawn the semantic map of the episode and the items and initialize the location costmap. In the code section below it will be explained in more detail, what is loaded and when. This process may take a while, so please have some patience. When the function has finished running through your bullet world should look like this:  
 + 
 +Now, let's execute the pick and place plan: 
 +<code lisp> 
 +CL-USER> (cram-urdf-projection:with-simulated-robot (kvr::demo)) 
 +</code> 
 +With this call we first say that we want to use the simulated bullet-world PR2 robot instead of the real one, and then we simply call the demo. The demo will read out the VR episode data and extract the positions of the objects that have been manipulated, which hand was used and the positions of the human head and hand.  
  
 === Code === === Code ===