This repository contains code to run the UW+UCSC demo for the Curious Minded Machine project. The demo is broadly divided into three components: navigation, decision making, and interaction. These components broadly correspond to the local_coverage_navigation, kuri_cmm_demo, and slackbot repositories, respectively.
This readme provides an overview of the demo and a getting started guide.
The below diagram provides a visual overview of the architecture of the system.
- A Kuri robot. The decision-making and and interaction components are robot agnostic (as of now), but the navigation component is robot-specific.
- A remote computer, configured to enable a Flask app to run on it on ports 8193 and 8194 (instructions under "Slackbot" below). This computer should always be on, to recieve user responses to Slack messages.
Both the local_coverage_navigation and the kuri_cmm_demo directories use Docker containers to isolate ROS versions and ensure the appropriate dependencies are installed. The appropriate dockerfiles are included in the directories. Please refer to our wiki on using Docker with Kuri for more details.
NOTE: For running the overall demo, use the Dockerfile in kuri_cmm_demo. The Dockerfile in local_coverage_navigation should chiefly be used to run the local navigator in isolation.
Refer to the readme in the slackbot directory. This code must run on a remote computer, so that it is guarenteed to be always on.
Refer to the readme in the local_coverage_navigation directory.
This node is the executive node; it brings together the slackbot, navigation, and decision-making aspects of the demo. Refer to the readme in the kuri_cmm_demo directory.
Both the Slackbot and the code running on-board the robot store data in respective sent_messages_database.pkl files, as well as in CSVs and as stored image files. The downside of this is that if you change the configuration file, or other aspects of the setup, then those cached files don't update and the system does not work as expected. To alleviate this, anytime you want to re-run the server and/or robot from scratch, run python3 clean.py. The prompts on-screen will walk you through how to delete files and have you verify the commands before running them.