Release v.1.4.1

.gitignore

@@ -7,6 +7,9 @@
 *.*~
 *.swp
 
+# Generated rasa models
+/mdr_speech/mdr_rasa/models/*/generated/
+
 # MongoDB
 prealloc.*
 mongod.lock

.travis/Dockerfile

@@ -1,4 +1,4 @@
-FROM bitbots/bitbots-domestic:kinetic
+FROM bitbots/bitbots-common:kinetic
 
 WORKDIR /travis
 ADD ./ /travis/src/mas_domestic_robotics

README.md

@@ -2,12 +2,36 @@
 
 # mas_domestic_robotics
 
+## Table of contents
+
+1. [Summary](#summary)
+2. [Dependencies](#dependencies)
+3. [Packages](#packages)
+    1. [Planning](#planning)
+    2. [Naming conventions](#naming-conventions)
+4. [Getting started](#getting-started)
+5. [Docker images](#docker-images)
+    1. [Building the bitbots-domestic image](#building-the-bitbots-domestic-image)
+    2. [Travis](#travis)
+6. [License](#license)
+6. [Acknowledgments](#acknowledgments)
+
 ## Summary
 
 This repository contains various core domestic robotics functionalities developed by the Autonomous Systems group at Hochschule Bonn-Rhein-Sieg.
 
 The code in this repository is mostly ROS-based and is developed in a robot-independent manner. Robot-dependent code and/or configuration files are hosted in robot-specific repositories, e.g. [mas_cob](https://github.com/b-it-bots/mas_cob) for our Care-O-bot.
 
+# Dependencies
+
+`mas_domestic_robotics` is not a standalone repository and depends on many other components. A diagram of the major dependencies is shown below:
+
+![mas_domestic_robotics repository dependency diagram](docs/images/repo_dependency_diagram.png)
+
+Most of the major dependencies are also developed in-house and, in the interest of modularity, are hosted in separate repositories.
+
+A more complete set of dependencies can be found in the [`mas-domestic.rosinstall`](mas-domestic.rosinstall) file.
+
 ## Packages
 
 The functionalities in this repository are organised based on the main capabilities a domestic robot needs to possess. Each of these has its own ROS metapackage, which further includes a set of packages related to that particular functionality. A rough summary of the contents of these packages contents can be found below:
@@ -23,18 +47,17 @@ The functionalities in this repository are organised based on the main capabilit
 
 The planning metapackage is where most of the high-level functionalites of our robots are implemented. We are developing our robots as skill-based agents; the planning metapackage includes *action* and *scenario* metapackages because of that. The action metapackage is further divided into metapackages for actions related to particular capabilities, while the scenario metapackage includes domain files and/or state machines for various scenarios (e.g. RoboCup@Home tasks, lab demos, and so forth). In principle, scenarios are built by integrating actions together, which is the main benefit of the skill-based agent framework.
 
-### Naming Conventions
+### Naming conventions
 
 All packages in our domestic code base start with the `mdr_` suffix; this stands for `mas_domestic_robotics`, which is the name of the top-level directory/ROS metapackage.
 
-
 ## Getting started
 
 b-it-bots members can use [these instructions](https://github.com/b-it-bots/dev-env#setup) to setup a complete development environment for all our robots.
 
 For external users, the following instructions should get you a working system:
 
-1. Setup a catkin workspace
+1. Set up a catkin workspace
 
   ```
   mkdir -p ~/catkin_ws/src && cd ~/catkin_ws
@@ -46,37 +69,36 @@ For external users, the following instructions should get you a working system:
   ```
     wstool update -t src
     rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
-
   ```
-
-3. Building your code
+3. Build the code
 
   ```
   catkin build
   ```
 
+If you encounter any problems, please check the list of [issues](https://github.com/b-it-bots/mas_domestic_robotics/issues) and open a new one if you don't see a discussion of the problem there.
+
 ## Docker images
-To test locally, you need to install [docker](https://docs.docker.com/install/linux/docker-ce/ubuntu/) and [docker-compose](https://docs.docker.com/compose/install/),
+
+If you want to test locally without installing our software and its dependencies, you need to install [docker](https://docs.docker.com/install/linux/docker-ce/ubuntu/) and [docker-compose](https://docs.docker.com/compose/install/).
 
 You can pull the image for this repository:
 
 ```
 docker pull bitbots/bitbots-domestic:kinetic
 ```
 
-
 ### Building the bitbots-domestic image
 
-To manually build this image, first cd into this repository, then:
+To manually build this image, first cd into this repository, then execute
 
 ```
 docker build -t bitbots/bitbots-domestic:kinetic .
-
 ```
 
 ### Travis
 
-To check locally if your changes will pass the tests:
+We use continuous integration to ensure the quality of our software. To check locally if your changes will pass the tests, execute
 
 ```
 docker-compose build
@@ -85,9 +107,10 @@ docker-compose run travis
 
 ## License
 
-This project is licensed under the GPLv3 License - see the [LICENSE.md](LICENSE.md) file for details
+This project is licensed under the GPLv3 License - see the [LICENSE.md](LICENSE.md) file for details.
 
 ## Acknowledgments
 
-* Thanks to the many generations of b-it-bots@Home members. You can see a list of contributors [here](https://github.com/b-it-bots/mas_domestic_robotics/graphs/contributors).
-* MAS staff and professors who have provided their advice and support
+This software would be impossible without
+* the many generations of b-it-bots@Home members. A list of contributors can be found [here](https://github.com/b-it-bots/mas_domestic_robotics/graphs/contributors)
+* the MAS staff and professors who have provided their advice and support

docker-compose.yml

@@ -1,10 +1,8 @@
 version: '2'
 services:
   travis:
-    build:
-      dockerfile: .travis/Dockerfile
-      context: .
     image: bitbots/bitbots-domestic:${TRAVIS_COMMIT}
+    build: .
   domestic:
     build: .
     image: bitbots/bitbots-domestic:kinetic

docs/planning_flowchart.html

@@ -0,0 +1,12 @@
+<!DOCTYPE html>
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<title>Draw.io Diagram</title>
+<meta http-equiv="refresh" content="0;URL='https://www.draw.io/#G1V1gMgwYKnSAovQo0fkZLUtUEVIXVtw6f'"/>
+<meta charset="utf-8"/>
+</head>
+<body>
+<div class="mxgraph" style="max-width:100%;border:1px solid transparent;" data-mxgraph="{&quot;highlight&quot;:&quot;#0000ff&quot;,&quot;nav&quot;:true,&quot;resize&quot;:true,&quot;xml&quot;:&quot;&lt;mxfile modified=\&quot;2019-01-18T18:01:17.662Z\&quot; host=\&quot;www.draw.io\&quot; agent=\&quot;Mozilla/5.0 (X11; Ubuntu; Linux x86_64; rv:64.0) Gecko/20100101 Firefox/64.0\&quot; etag=\&quot;xHtHoiuvUHksHpZylf3g\&quot; version=\&quot;10.1.2\&quot; type=\&quot;google\&quot;&gt;&lt;diagram id=\&quot;vKa8OekeWyLovxLuJ4b8\&quot; name=\&quot;Page-1\&quot;&gt;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&lt;/diagram&gt;&lt;/mxfile&gt;&quot;,&quot;toolbar&quot;:&quot;pages zoom layers lightbox&quot;,&quot;page&quot;:0}"></div>
+<a style="position:absolute;top:50%;left:50%;margin-top:-128px;margin-left:-64px;" href="https://www.draw.io/#G1V1gMgwYKnSAovQo0fkZLUtUEVIXVtw6f" target="_blank"><img border="0" src="https://www.draw.io/images/drawlogo128.png"/></a>
+</body>
+</html>

mas-domestic.rosinstall

@@ -9,20 +9,40 @@
     version: kinetic
 
 - git:
-    local-name: mas_navigation
-    uri: https://github.com/b-it-bots/mas_navigation.git
+    local-name: mas_navigation_tools
+    uri: https://github.com/b-it-bots/mas_navigation_tools.git
     version: kinetic
 
 - git:
-    local-name: mas_perception
-    uri: https://github.com/b-it-bots/mas_perception.git
+    local-name: mas_perception_libs
+    uri: https://github.com/b-it-bots/mas_perception_libs.git
+    version: kinetic
+
+- git:
+    local-name: mas_perception_msgs
+    uri: https://github.com/b-it-bots/mas_perception_msgs.git
     version: kinetic
 
 - git:
     local-name: mas_execution_manager
     uri: https://github.com/b-it-bots/mas_execution_manager.git
     version: master
 
+- git:
+    local-name: mas_knowledge_base
+    uri: https://github.com/b-it-bots/mas_knowledge_base.git
+    version: master
+
+- git:
+    local-name: action-execution
+    uri: https://github.com/b-it-bots/action-execution.git
+    version: master
+
+- git:
+    local-name: ftsm
+    uri: https://github.com/b-it-bots/ftsm.git
+    version: master
+
 - git:
     local-name: zbar_ros
     uri: https://github.com/b-it-bots/zbar_ros.git
@@ -38,6 +58,11 @@
     uri: https://github.com/KCL-Planning/ROSPlan.git
     version: master
 
+- git:
+    local-name: mongodb_store
+    uri: https://github.com/b-it-bots/mongodb_store.git
+    version: kinetic-devel
+
 - git:
     local-name: occupancy_grid_utils
     uri: https://github.com/b-it-bots/occupancy_grid_utils.git

mdr_environments/upload_param.launch

@@ -2,10 +2,10 @@
 <launch>
   <arg name="robot_env" default="$(optenv ROBOT_ENV !!NO_ROBOT_ENV_SET!!)"/>
   <arg name="domestic_domain" default="false"/>  <!-- include environment specific launch file -->
-  <!--include file="$(find mcr_default_env_config)/$(arg robot_env)/upload_param_$(arg robot_env).launch" /-->
+  <!--include file="$(find mdr_environments)/$(arg robot_env)/upload_param_$(arg robot_env).launch" /-->
 
   <group ns="/script_server">
     <!-- send ROBOT parameters to parameter server -->
-    <rosparam command="load" ns="base" file="$(find mcr_default_env_config)/$(arg robot_env)/navigation_goals.yaml"/>
+    <rosparam command="load" ns="base" file="$(find mdr_environments)/$(arg robot_env)/navigation_goals.yaml"/>
   </group>
 </launch>

mdr_hri/mdr_mbot_interface/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mdr_mbot_interface)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+)
+
+catkin_python_setup()
+
+catkin_package(
+  CATKIN_DEPENDS
+)

mdr_hri/mdr_mbot_interface/package.xml

@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mdr_mbot_interface</name>
+  <version>0.0.0</version>
+  <description>The mdr_mbot_interface package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">lucy</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/mdr_mbot_interface</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

mdr_hri/mdr_mbot_interface/ros/launch/mbot_interface.launch

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- NLU : Natural Language understanding -->
+    <arg name="ns" default="hri"/>
+
+    <!-- the string containing the sentence from which the intention and args will get extracted -->
+    <arg name="intention_input" default="/understood_intention" />
+
+    <!-- the topic name in which the NLU will publish the output intention and args -->
+    <arg name="nlu_output" default="/action_interpretation" />
+
+    <!-- mbot natural language understanding, inputs text, outputs intention and arguments -->
+    <node ns="$(arg ns)" pkg="mdr_mbot_interface" type="mbot_interface" name="mdr_mbot_interface" respawn="true" output="screen">
+        <remap from="~input_interpretation" to="$(arg intention_input)"/>
+
+    </node>
+
+</launch>

mdr_hri/mdr_mbot_interface/ros/scripts/mbot_interface

@@ -0,0 +1,9 @@
+#!/usr/bin/env python
+
+import rospy
+from mdr_mbot_interface.mbot_planner import MbotPlanner
+
+if __name__ == '__main__':
+    rospy.init_node('mbot_planner', anonymous=False)
+    planner = MbotPlanner()
+    planner.wait_for_interpretation()