Shopping Scenario Meta Package

This package holds shopping scenario related code, models, and documentation.

To run it (after the robot performing the shopping tasks was started and localized), just do

$ roslaunch shopping_scenario_executive shopping_scenario.launch

and it should start all necessary components. To run the Gazebo simulation of the scenario (with all models spawned etc.), run

$ roslaunch shopping_scenario_executive shopping_scenario_simulation.launch

The simulated part requires to have the package nav_pcontroller present and compiled in the ROS package path.

The Structure Explained

The following contents (sub-directories) are held within this meta package:

• shopping_scenario: Helper directory for the meta package, only holding its CMakeLists.txt and package.xml.

• shopping_scenario_executive: The top- and high-level plans that control the shopping scenario behavior of the controlled robot are stored here. Also, the executable entry point is in this package.

• shopping_scenario_gazebo: A gazebo world definition for simulating the scenario. This is being developed in the context of continuous integration efforts (first simulate, then execute on the real robot).

• shopping_scenario_maps: Floor map for the robot to localize on, as well as global coordinate origin information.

• shopping_scenario_models: Furniture, room, and object models for simulation, object detection (perception), reasoning, and visualization.

• shopping_scenario_reasoning: Reasoning components for giving the robot semantic access to the environment (refer to furniture by name, know invisible object characteristcs / static background knowledge).

• pr2_moveit_node: Readily configured MoveIt! node to control the simulated PR2 in Gazebo.

• attache_msgs: Message and service definitions for using the libattache.so plugin for Gazebo (attachment and detachment of objects to each other, used for simulated grasping).

Open To Dos

The following points are to be done in the near future:

• Append handle-information to the objects in shopping_scenario_models.