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Clearing out the computer before it gets wiped.

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266
the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/Send_Skeleton.pde Normal file
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/* --------------------------------------------------------------------------
* Baxter arm position sender for Kinect V1
* Modified from SimpleOpenNI User Test
* To run, send the output to the ROS listening port, e.g.
* ./processing > /dev/udp/localhost/15444
* --------------------------------------------------------------------------
* Processing Wrapper for the OpenNI/Kinect 2 library
* http://code.google.com/p/simple-openni
* --------------------------------------------------------------------------
* Modified by J. Devine and Daniel Gonzalez Castro
* Original prog: Max Rheiner / Interaction Design / Zhdk / http://iad.zhdk.ch/
* date: 12/12/2012 (m/d/y)
* ----------------------------------------------------------------------------
*/
import SimpleOpenNI.*;
//import processing.net.*;//network lib
//Client c; //comms output
String SendToServer;
SimpleOpenNI context;
color[] userClr = new color[]{ color(255,0,0),
color(0,255,0),
color(0,0,255),
color(255,255,0),
color(255,0,255),
color(0,255,255)
};
PVector com = new PVector();
PVector com2d = new PVector();
PVector v1 = new PVector();
PVector v2d = new PVector();
float dontcare;
float Lhandx,Lhandy,Rhandx,Rhandy;
float Lelbowx,Lelbowy,Relbowx,Relbowy;
float Lshoulderx,Lshouldery,Rshoulderx,Rshouldery;
float Langle,Rangle,L2angle,R2angle;
void setup()
{
size(640,480);
context = new SimpleOpenNI(this);
if(context.isInit() == false)
{
//println("Can't init SimpleOpenNI, maybe the camera is not connected!");
exit();
return;
}
// enable depthMap generation
context.enableDepth();
// enable skeleton generation for all joints
context.enableUser();
background(200,0,0);
stroke(0,0,255);
strokeWeight(3);
smooth();
}
void draw()
{
// update the cam
context.update();
// draw depthImageMap
//image(context.depthImage(),0,0);
image(context.userImage(),0,0);
// draw the skeleton if it's available
int[] userList = context.getUsers();
for(int i=0;i<userList.length;i++)
{
if(context.isTrackingSkeleton(userList[i]))
{
stroke(userClr[ (userList[i] - 1) % userClr.length ] );
drawSkeleton(userList[i]);
}
// draw the center of mass
if(context.getCoM(userList[i],com))
{
context.convertRealWorldToProjective(com,com2d);
stroke(100,255,0);
strokeWeight(10);
beginShape(LINES);
vertex(com2d.x,com2d.y);
vertex(com2d.x,com2d.y);
vertex(com2d.x,com2d.y);
vertex(com2d.x,com2d.y);
endShape();
fill(0,255,100);
text(Integer.toString(userList[i]),com2d.x,com2d.y);
}
}
}
// draw the skeleton with the selected joints
void drawSkeleton(int userId)
{
// to get the 3d joint data
/*
PVector jointPos = new PVector();
context.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_NECK,jointPos);
println(jointPos);
*/
//context.drawLimb(userId, SimpleOpenNI.SKEL_HEAD, SimpleOpenNI.SKEL_NECK);
//context.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_LEFT_SHOULDER);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_LEFT_ELBOW);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, SimpleOpenNI.SKEL_LEFT_HAND);
SendToServer="";
context.getCoM(userId,v1);
context.convertRealWorldToProjective(v1,v2d);
//print("CoM ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(1);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+("CoM:"+v2d.x+','+v2d.y);
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_HAND, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" Left hand ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Lhand:"+v2d.x+','+v2d.y);
Lhandx=v2d.x;
Lhandy=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" Lelbow ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Lelbow:"+v2d.x+','+v2d.y);
Lelbowx=v2d.x;
Lelbowy=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" Left shoulder ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Lshoulder:"+v2d.x+','+v2d.y);
Lshoulderx=v2d.x;
Lshouldery=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_HAND, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" Right hand ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(255,0,0);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Rhand:"+v2d.x+','+v2d.y);
Rhandx=v2d.x;
Rhandy=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" right elbow ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Relbow:"+v2d.x+','+v2d.y);
Relbowx=v2d.x;
Relbowy=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" right shoulder ");
//print(v2d.x);
//print(' ');
//println(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Rshoulder:"+v2d.x+','+v2d.x+"\n");
//println(SendToServer);
Rshoulderx=v2d.x;
Rshouldery=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, v1);
context.convertRealWorldToProjective(v1,v2d);
//println(";diference:"+(Lelbowx-Lshoulderx));
Langle=atan2((Lelbowx-Lshoulderx),(Lelbowy-Lshouldery));
Rangle=atan2((Relbowx-Rshoulderx),(Relbowy-Rshouldery));
L2angle=atan2((Lhandx-Lelbowx),(Lhandy-Lelbowy));
R2angle=atan2((Rhandx-Relbowx),(Rhandy-Relbowy));
println("parsethis:"+Langle+':'+Rangle+':'+L2angle+':'+R2angle);
//println(Rangle);
//c.write(SendToServer);
//context.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_RIGHT_SHOULDER);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_RIGHT_ELBOW);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, SimpleOpenNI.SKEL_RIGHT_HAND);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
//context.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_LEFT_HIP);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP, SimpleOpenNI.SKEL_LEFT_KNEE);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE, SimpleOpenNI.SKEL_LEFT_FOOT);
//context.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_RIGHT_HIP);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP, SimpleOpenNI.SKEL_RIGHT_KNEE);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE, SimpleOpenNI.SKEL_RIGHT_FOOT);
}
// -----------------------------------------------------------------
// SimpleOpenNI events
void onNewUser(SimpleOpenNI curContext, int userId)
{
//println("onNewUser - userId: " + userId);
//println("\tstart tracking skeleton");
curContext.startTrackingSkeleton(userId);
}
void onLostUser(SimpleOpenNI curContext, int userId)
{
//println("onLostUser - userId: " + userId);
}
void onVisibleUser(SimpleOpenNI curContext, int userId)
{
//println("onVisibleUser - userId: " + userId);
}
void keyPressed()
{
switch(key)
{
case ' ':
context.setMirror(!context.mirror());
break;
}
}

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the_baxter_mimic/Processing2.2.1_Sketch_Send_Skeleton/skelsend.pde~ Normal file
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/* --------------------------------------------------------------------------
* SimpleOpenNI User Test
* --------------------------------------------------------------------------
* Processing Wrapper for the OpenNI/Kinect 2 library
* http://code.google.com/p/simple-openni
* --------------------------------------------------------------------------
* prog: Max Rheiner / Interaction Design / Zhdk / http://iad.zhdk.ch/
* date: 12/12/2012 (m/d/y)
* ----------------------------------------------------------------------------
*/
import SimpleOpenNI.*;
//import processing.net.*;//network lib
//Client c; //comms output
String SendToServer;
SimpleOpenNI context;
color[] userClr = new color[]{ color(255,0,0),
color(0,255,0),
color(0,0,255),
color(255,255,0),
color(255,0,255),
color(0,255,255)
};
PVector com = new PVector();
PVector com2d = new PVector();
PVector v1 = new PVector();
PVector v2d = new PVector();
float dontcare;
float Lhandx,Lhandy,Rhandx,Rhandy;
float Lelbowx,Lelbowy,Relbowx,Relbowy;
float Lshoulderx,Lshouldery,Rshoulderx,Rshouldery;
float Langle,Rangle,L2angle,R2angle;
void setup()
{
size(640,480);
context = new SimpleOpenNI(this);
if(context.isInit() == false)
{
//println("Can't init SimpleOpenNI, maybe the camera is not connected!");
exit();
return;
}
// enable depthMap generation
context.enableDepth();
// enable skeleton generation for all joints
context.enableUser();
background(200,0,0);
stroke(0,0,255);
strokeWeight(3);
smooth();
}
void draw()
{
// update the cam
context.update();
// draw depthImageMap
//image(context.depthImage(),0,0);
image(context.userImage(),0,0);
// draw the skeleton if it's available
int[] userList = context.getUsers();
for(int i=0;i<userList.length;i++)
{
if(context.isTrackingSkeleton(userList[i]))
{
stroke(userClr[ (userList[i] - 1) % userClr.length ] );
drawSkeleton(userList[i]);
}
// draw the center of mass
if(context.getCoM(userList[i],com))
{
context.convertRealWorldToProjective(com,com2d);
stroke(100,255,0);
strokeWeight(10);
beginShape(LINES);
vertex(com2d.x,com2d.y);
vertex(com2d.x,com2d.y);
vertex(com2d.x,com2d.y);
vertex(com2d.x,com2d.y);
endShape();
fill(0,255,100);
text(Integer.toString(userList[i]),com2d.x,com2d.y);
}
}
}
// draw the skeleton with the selected joints
void drawSkeleton(int userId)
{
// to get the 3d joint data
/*
PVector jointPos = new PVector();
context.getJointPositionSkeleton(userId,SimpleOpenNI.SKEL_NECK,jointPos);
println(jointPos);
*/
//context.drawLimb(userId, SimpleOpenNI.SKEL_HEAD, SimpleOpenNI.SKEL_NECK);
//context.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_LEFT_SHOULDER);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_LEFT_ELBOW);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, SimpleOpenNI.SKEL_LEFT_HAND);
SendToServer="";
context.getCoM(userId,v1);
context.convertRealWorldToProjective(v1,v2d);
//print("CoM ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(1);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+("CoM:"+v2d.x+','+v2d.y);
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_HAND, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" Left hand ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Lhand:"+v2d.x+','+v2d.y);
Lhandx=v2d.x;
Lhandy=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_ELBOW, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" Lelbow ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Lelbow:"+v2d.x+','+v2d.y);
Lelbowx=v2d.x;
Lelbowy=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" Left shoulder ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Lshoulder:"+v2d.x+','+v2d.y);
Lshoulderx=v2d.x;
Lshouldery=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_HAND, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" Right hand ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(255,0,0);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Rhand:"+v2d.x+','+v2d.y);
Rhandx=v2d.x;
Rhandy=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" right elbow ");
//print(v2d.x);
//print(' ');
//print(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Relbow:"+v2d.x+','+v2d.y);
Relbowx=v2d.x;
Relbowy=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, v1);
context.convertRealWorldToProjective(v1,v2d);
//print(" right shoulder ");
//print(v2d.x);
//print(' ');
//println(v2d.y);
fill(0,0,0);
stroke(255,255,255);
strokeWeight(10);
rect(v2d.x, v2d.y, 5, 5);
SendToServer = SendToServer+(";Rshoulder:"+v2d.x+','+v2d.x+"\n");
//println(SendToServer);
Rshoulderx=v2d.x;
Rshouldery=v2d.y;
context.getJointPositionSkeleton(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, v1);
context.convertRealWorldToProjective(v1,v2d);
//println(";diference:"+(Lelbowx-Lshoulderx));
Langle=atan2((Lelbowx-Lshoulderx),(Lelbowy-Lshouldery));
Rangle=atan2((Relbowx-Rshoulderx),(Relbowy-Rshouldery));
L2angle=atan2((Lhandx-Lelbowx),(Lhandy-Lelbowy));
R2angle=atan2((Rhandx-Relbowx),(Rhandy-Relbowy));
println("parsethis:"+Langle+':'+Rangle+':'+L2angle+':'+R2angle);
//println(Rangle);
//c.write(SendToServer);
//context.drawLimb(userId, SimpleOpenNI.SKEL_NECK, SimpleOpenNI.SKEL_RIGHT_SHOULDER);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_RIGHT_ELBOW);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_ELBOW, SimpleOpenNI.SKEL_RIGHT_HAND);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_SHOULDER, SimpleOpenNI.SKEL_TORSO);
//context.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_LEFT_HIP);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_HIP, SimpleOpenNI.SKEL_LEFT_KNEE);
//context.drawLimb(userId, SimpleOpenNI.SKEL_LEFT_KNEE, SimpleOpenNI.SKEL_LEFT_FOOT);
//context.drawLimb(userId, SimpleOpenNI.SKEL_TORSO, SimpleOpenNI.SKEL_RIGHT_HIP);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_HIP, SimpleOpenNI.SKEL_RIGHT_KNEE);
//context.drawLimb(userId, SimpleOpenNI.SKEL_RIGHT_KNEE, SimpleOpenNI.SKEL_RIGHT_FOOT);
}
// -----------------------------------------------------------------
// SimpleOpenNI events
void onNewUser(SimpleOpenNI curContext, int userId)
{
//println("onNewUser - userId: " + userId);
//println("\tstart tracking skeleton");
curContext.startTrackingSkeleton(userId);
}
void onLostUser(SimpleOpenNI curContext, int userId)
{
//println("onLostUser - userId: " + userId);
}
void onVisibleUser(SimpleOpenNI curContext, int userId)
{
//println("onVisibleUser - userId: " + userId);
}
void keyPressed()
{
switch(key)
{
case ' ':
context.setMirror(!context.mirror());
break;
}
}

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the_baxter_mimic/baxter instructions.odt Normal file
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#!/bin/bash
#Make sure you are running the server and the Processing sketch if you actually want the robot to move. Needs a Kinect V1.
#We had it up and running on an ubuntu machine.
#The processing sketch throws NaN/Div0 errors every so often, hence the infinite loop.
# based on the original from Rethink Robotics
# This file is to be used in the *root* of your Catkin workspace.
# This is a convenient script which will set up your ROS environment and
# should be executed with every new instance of a shell in which you plan on
# working with Baxter.
# Clear any previously set your_ip/your_hostname
unset your_ip
unset your_hostname
#-----------------------------------------------------------------------------#
# USER CONFIGURABLE ROS ENVIRONMENT VARIABLES #
#-----------------------------------------------------------------------------#
# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
# previously set (typically in your .bashrc or .bash_profile), those settings
# will be overwritten by any variables set here.
# Specify Baxter's hostname
baxter_hostname="baxter.local"
# Set *Either* your computers ip address or hostname. Please note if using
# your_hostname that this must be resolvable to Baxter.
your_ip="192.168.1.3"
#your_hostname="my_computer.local"
# Specify ROS distribution (e.g. indigo, hydro, etc.)
ros_version="indigo"
#-----------------------------------------------------------------------------#
tf=$(mktemp)
trap "rm -f -- '${tf}'" EXIT
# If this file specifies an ip address or hostname - unset any previously set
# ROS_IP and/or ROS_HOSTNAME.
# If this file does not specify an ip address or hostname - use the
# previously specified ROS_IP/ROS_HOSTNAME environment variables.
if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
unset ROS_IP && unset ROS_HOSTNAME
else
your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
fi
# If argument provided, set baxter_hostname to argument
# If argument is sim or local, set baxter_hostname to localhost
if [ -n "${1}" ]; then
if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
baxter_hostname="localhost"
if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
your_hostname="localhost"
your_ip=""
fi
else
baxter_hostname="${1}"
fi
fi
topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
cat <<-EOF > ${tf}
[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
# verify this script is moved out of baxter folder
if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
echo -ne "EXITING - This script must be moved from the baxter folder \
to the root of your catkin workspace.\n"
exit 1
fi
# verify ros_version lowercase
ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
# check for ros installation
if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
echo "EXITING - No ROS installation found in /opt/ros."
echo "Is ROS installed?"
exit 1
fi
# if set, verify user has modified the baxter_hostname
if [ -n ${baxter_hostname} ] && \
[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'baxter_hostname' variable to reflect Baxter's current hostname.\n"
exit 1
fi
# if set, verify user has modified their ip address (your_ip)
if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
variable to reflect your current IP address.\n"
exit 1
fi
# if set, verify user has modified their computer hostname (your_hostname)
if [ -n ${your_hostname} ] && \
[[ "${your_hostname}" == "my_computer.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'your_hostname' variable to reflect your current PC hostname.\n"
exit 1
fi
# verify user does not have both their ip *and* hostname set
if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
*EITHER* your_ip or your_hostname.\n"
exit 1
fi
# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
your_ip or your_hostname.\n"
exit 1
fi
# verify specified ros version is installed
ros_setup="/opt/ros/\${ros_version}"
if [ ! -d "\${ros_setup}" ]; then
echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
in \${ros_setup}.\n"
exit 1
fi
# verify the ros setup.sh file exists
if [ ! -s "\${ros_setup}"/setup.sh ]; then
echo -ne "EXITING - Failed to find the ROS environment script: \
"\${ros_setup}"/setup.sh.\n"
exit 1
fi
# verify the user is running this script in the root of the catkin
# workspace and that the workspace has been compiled.
if [ ! -s "devel/setup.bash" ]; then
echo -ne "EXITING - \n1) Please verify that this script is being run \
in the root of your catkin workspace.\n2) Please verify that your workspace \
has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
3) Run this script again upon completion of your workspace build.\n"
exit 1
fi
[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
[ -n "${baxter_hostname}" ] && \
export ROS_MASTER_URI="http://${baxter_hostname}:11311"
# source the catkin setup bash script
source devel/setup.bash
# setup the bash prompt
export __ROS_PROMPT=\${__ROS_PROMPT:-0}
[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
__ros_prompt () {
if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
eval \${__ORIG_PROMPT_COMMAND}
fi
if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="\[\033[00;33m\][baxter - \
\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
fi
}
if [ "\${TERM}" != "dumb" ]; then
export PROMPT_COMMAND=__ros_prompt
__ROS_PROMPT=1
elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
fi
while true;
do rosrun brazos brazo_control.py
done
EOF
${SHELL} --rcfile ${tf}
rm -f -- "${tf}"
trap - EXIT
# vim: noet

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#!/bin/bash
# Copyright (c) 2013-2015, Rethink Robotics
# All rights reserved.
# This file is to be used in the *root* of your Catkin workspace.
# This is a convenient script which will set up your ROS environment and
# should be executed with every new instance of a shell in which you plan on
# working with Baxter.
# Clear any previously set your_ip/your_hostname
unset your_ip
unset your_hostname
#-----------------------------------------------------------------------------#
# USER CONFIGURABLE ROS ENVIRONMENT VARIABLES #
#-----------------------------------------------------------------------------#
# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
# previously set (typically in your .bashrc or .bash_profile), those settings
# will be overwritten by any variables set here.
# Specify Baxter's hostname
baxter_hostname="baxter.local"
# Set *Either* your computers ip address or hostname. Please note if using
# your_hostname that this must be resolvable to Baxter.
your_ip="192.168.1.3"
#your_hostname="my_computer.local"
# Specify ROS distribution (e.g. indigo, hydro, etc.)
ros_version="indigo"
#-----------------------------------------------------------------------------#
tf=$(mktemp)
trap "rm -f -- '${tf}'" EXIT
# If this file specifies an ip address or hostname - unset any previously set
# ROS_IP and/or ROS_HOSTNAME.
# If this file does not specify an ip address or hostname - use the
# previously specified ROS_IP/ROS_HOSTNAME environment variables.
if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
unset ROS_IP && unset ROS_HOSTNAME
else
your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
fi
# If argument provided, set baxter_hostname to argument
# If argument is sim or local, set baxter_hostname to localhost
if [ -n "${1}" ]; then
if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
baxter_hostname="localhost"
if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
your_hostname="localhost"
your_ip=""
fi
else
baxter_hostname="${1}"
fi
fi
topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
cat <<-EOF > ${tf}
[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
# verify this script is moved out of baxter folder
if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
echo -ne "EXITING - This script must be moved from the baxter folder \
to the root of your catkin workspace.\n"
exit 1
fi
# verify ros_version lowercase
ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
# check for ros installation
if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
echo "EXITING - No ROS installation found in /opt/ros."
echo "Is ROS installed?"
exit 1
fi
# if set, verify user has modified the baxter_hostname
if [ -n ${baxter_hostname} ] && \
[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'baxter_hostname' variable to reflect Baxter's current hostname.\n"
exit 1
fi
# if set, verify user has modified their ip address (your_ip)
if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
variable to reflect your current IP address.\n"
exit 1
fi
# if set, verify user has modified their computer hostname (your_hostname)
if [ -n ${your_hostname} ] && \
[[ "${your_hostname}" == "my_computer.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'your_hostname' variable to reflect your current PC hostname.\n"
exit 1
fi
# verify user does not have both their ip *and* hostname set
if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
*EITHER* your_ip or your_hostname.\n"
exit 1
fi
# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
your_ip or your_hostname.\n"
exit 1
fi
# verify specified ros version is installed
ros_setup="/opt/ros/\${ros_version}"
if [ ! -d "\${ros_setup}" ]; then
echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
in \${ros_setup}.\n"
exit 1
fi
# verify the ros setup.sh file exists
if [ ! -s "\${ros_setup}"/setup.sh ]; then
echo -ne "EXITING - Failed to find the ROS environment script: \
"\${ros_setup}"/setup.sh.\n"
exit 1
fi
# verify the user is running this script in the root of the catkin
# workspace and that the workspace has been compiled.
if [ ! -s "devel/setup.bash" ]; then
echo -ne "EXITING - \n1) Please verify that this script is being run \
in the root of your catkin workspace.\n2) Please verify that your workspace \
has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
3) Run this script again upon completion of your workspace build.\n"
exit 1
fi
[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
[ -n "${baxter_hostname}" ] && \
export ROS_MASTER_URI="http://${baxter_hostname}:11311"
# source the catkin setup bash script
source devel/setup.bash
# setup the bash prompt
export __ROS_PROMPT=\${__ROS_PROMPT:-0}
[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
__ros_prompt () {
if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
eval \${__ORIG_PROMPT_COMMAND}
fi
if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="\[\033[00;33m\][baxter - \
\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
fi
}
if [ "\${TERM}" != "dumb" ]; then
export PROMPT_COMMAND=__ros_prompt
__ROS_PROMPT=1
elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
fi
while true;
do rosrun brazos brazo_control.py
done
EOF
${SHELL} --rcfile ${tf}
rm -f -- "${tf}"
trap - EXIT
# vim: noet

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#!/bin/bash
# Modified from the original by Rethink Robotics
# Run this first to get baxter going. Then run ./baxtermimic.sh in a new terminal.
# Clear any previously set your_ip/your_hostname
unset your_ip
unset your_hostname
#-----------------------------------------------------------------------------#
# USER CONFIGURABLE ROS ENVIRONMENT VARIABLES #
#-----------------------------------------------------------------------------#
# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
# previously set (typically in your .bashrc or .bash_profile), those settings
# will be overwritten by any variables set here.
# Specify Baxter's hostname
baxter_hostname="baxter.local"
# Set *Either* your computers ip address or hostname. Please note if using
# your_hostname that this must be resolvable to Baxter.
your_ip="192.168.1.3"
#your_hostname="my_computer.local"
# Specify ROS distribution (e.g. indigo, hydro, etc.)
ros_version="indigo"
#-----------------------------------------------------------------------------#
tf=$(mktemp)
trap "rm -f -- '${tf}'" EXIT
# If this file specifies an ip address or hostname - unset any previously set
# ROS_IP and/or ROS_HOSTNAME.
# If this file does not specify an ip address or hostname - use the
# previously specified ROS_IP/ROS_HOSTNAME environment variables.
if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
unset ROS_IP && unset ROS_HOSTNAME
else
your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
fi
# If argument provided, set baxter_hostname to argument
# If argument is sim or local, set baxter_hostname to localhost
if [ -n "${1}" ]; then
if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
baxter_hostname="localhost"
if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
your_hostname="localhost"
your_ip=""
fi
else
baxter_hostname="${1}"
fi
fi
topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
cat <<-EOF > ${tf}
[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
# verify this script is moved out of baxter folder
if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
echo -ne "EXITING - This script must be moved from the baxter folder \
to the root of your catkin workspace.\n"
exit 1
fi
# verify ros_version lowercase
ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
# check for ros installation
if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
echo "EXITING - No ROS installation found in /opt/ros."
echo "Is ROS installed?"
exit 1
fi
# if set, verify user has modified the baxter_hostname
if [ -n ${baxter_hostname} ] && \
[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'baxter_hostname' variable to reflect Baxter's current hostname.\n"
exit 1
fi
# if set, verify user has modified their ip address (your_ip)
if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
variable to reflect your current IP address.\n"
exit 1
fi
# if set, verify user has modified their computer hostname (your_hostname)
if [ -n ${your_hostname} ] && \
[[ "${your_hostname}" == "my_computer.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'your_hostname' variable to reflect your current PC hostname.\n"
exit 1
fi
# verify user does not have both their ip *and* hostname set
if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
*EITHER* your_ip or your_hostname.\n"
exit 1
fi
# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
your_ip or your_hostname.\n"
exit 1
fi
# verify specified ros version is installed
ros_setup="/opt/ros/\${ros_version}"
if [ ! -d "\${ros_setup}" ]; then
echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
in \${ros_setup}.\n"
exit 1
fi
# verify the ros setup.sh file exists
if [ ! -s "\${ros_setup}"/setup.sh ]; then
echo -ne "EXITING - Failed to find the ROS environment script: \
"\${ros_setup}"/setup.sh.\n"
exit 1
fi
# verify the user is running this script in the root of the catkin
# workspace and that the workspace has been compiled.
if [ ! -s "devel/setup.bash" ]; then
echo -ne "EXITING - \n1) Please verify that this script is being run \
in the root of your catkin workspace.\n2) Please verify that your workspace \
has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
3) Run this script again upon completion of your workspace build.\n"
exit 1
fi
[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
[ -n "${baxter_hostname}" ] && \
export ROS_MASTER_URI="http://${baxter_hostname}:11311"
# source the catkin setup bash script
source devel/setup.bash
# setup the bash prompt
export __ROS_PROMPT=\${__ROS_PROMPT:-0}
[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
__ros_prompt () {
if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
eval \${__ORIG_PROMPT_COMMAND}
fi
if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="\[\033[00;33m\][baxter - \
\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
fi
}
if [ "\${TERM}" != "dumb" ]; then
export PROMPT_COMMAND=__ros_prompt
__ROS_PROMPT=1
elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
fi
rosrun baxter_tools enable_robot.py -e
rosrun baxter_tools camera_control.py -l
rosrun baxter_tools camera_control.py -c right_hand_camera
rosrun baxter_tools camera_control.py -o head_camera 640x480
rosrun brazos arm_server.py &disown
rosrun camara face_server.py
EOF
${SHELL} --rcfile ${tf}
rm -f -- "${tf}"
trap - EXIT
# vim: noet

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#!/bin/bash
#This script converts the speech.txt file to a wav and then sends it along with some movements to the Baxter.
#Make sure you are running the server!
pico2wave -w speech.wav "$(cat speech.txt)"
# Copyright (c) 2013-2015, Rethink Robotics
# All rights reserved.
# This file is to be used in the *root* of your Catkin workspace.
# This is a convenient script which will set up your ROS environment and
# should be executed with every new instance of a shell in which you plan on
# working with Baxter.
# Clear any previously set your_ip/your_hostname
unset your_ip
unset your_hostname
#-----------------------------------------------------------------------------#
# USER CONFIGURABLE ROS ENVIRONMENT VARIABLES #
#-----------------------------------------------------------------------------#
# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
# previously set (typically in your .bashrc or .bash_profile), those settings
# will be overwritten by any variables set here.
# Specify Baxter's hostname
baxter_hostname="baxter.local"
# Set *Either* your computers ip address or hostname. Please note if using
# your_hostname that this must be resolvable to Baxter.
your_ip="192.168.1.3"
#your_hostname="my_computer.local"
# Specify ROS distribution (e.g. indigo, hydro, etc.)
ros_version="indigo"
#-----------------------------------------------------------------------------#
tf=$(mktemp)
trap "rm -f -- '${tf}'" EXIT
# If this file specifies an ip address or hostname - unset any previously set
# ROS_IP and/or ROS_HOSTNAME.
# If this file does not specify an ip address or hostname - use the
# previously specified ROS_IP/ROS_HOSTNAME environment variables.
if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
unset ROS_IP && unset ROS_HOSTNAME
else
your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
fi
# If argument provided, set baxter_hostname to argument
# If argument is sim or local, set baxter_hostname to localhost
if [ -n "${1}" ]; then
if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
baxter_hostname="localhost"
if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
your_hostname="localhost"
your_ip=""
fi
else
baxter_hostname="${1}"
fi
fi
topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
cat <<-EOF > ${tf}
[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
# verify this script is moved out of baxter folder
if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
echo -ne "EXITING - This script must be moved from the baxter folder \
to the root of your catkin workspace.\n"
exit 1
fi
# verify ros_version lowercase
ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
# check for ros installation
if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
echo "EXITING - No ROS installation found in /opt/ros."
echo "Is ROS installed?"
exit 1
fi
# if set, verify user has modified the baxter_hostname
if [ -n ${baxter_hostname} ] && \
[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'baxter_hostname' variable to reflect Baxter's current hostname.\n"
exit 1
fi
# if set, verify user has modified their ip address (your_ip)
if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
variable to reflect your current IP address.\n"
exit 1
fi
# if set, verify user has modified their computer hostname (your_hostname)
if [ -n ${your_hostname} ] && \
[[ "${your_hostname}" == "my_computer.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'your_hostname' variable to reflect your current PC hostname.\n"
exit 1
fi
# verify user does not have both their ip *and* hostname set
if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
*EITHER* your_ip or your_hostname.\n"
exit 1
fi
# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
your_ip or your_hostname.\n"
exit 1
fi
# verify specified ros version is installed
ros_setup="/opt/ros/\${ros_version}"
if [ ! -d "\${ros_setup}" ]; then
echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
in \${ros_setup}.\n"
exit 1
fi
# verify the ros setup.sh file exists
if [ ! -s "\${ros_setup}"/setup.sh ]; then
echo -ne "EXITING - Failed to find the ROS environment script: \
"\${ros_setup}"/setup.sh.\n"
exit 1
fi
# verify the user is running this script in the root of the catkin
# workspace and that the workspace has been compiled.
if [ ! -s "devel/setup.bash" ]; then
echo -ne "EXITING - \n1) Please verify that this script is being run \
in the root of your catkin workspace.\n2) Please verify that your workspace \
has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
3) Run this script again upon completion of your workspace build.\n"
exit 1
fi
[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
[ -n "${baxter_hostname}" ] && \
export ROS_MASTER_URI="http://${baxter_hostname}:11311"
# source the catkin setup bash script
source devel/setup.bash
# setup the bash prompt
export __ROS_PROMPT=\${__ROS_PROMPT:-0}
[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
__ros_prompt () {
if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
eval \${__ORIG_PROMPT_COMMAND}
fi
if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="\[\033[00;33m\][baxter - \
\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
fi
}
if [ "\${TERM}" != "dumb" ]; then
export PROMPT_COMMAND=__ros_prompt
__ROS_PROMPT=1
elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
fi
rosrun brazos arm_client.py "afraid"
sleep 5
rosrun camara deliver_speech.py
sleep 44
#nake this sleep longer to suit the length of the text being read.
rosrun brazos arm_client.py "up-down"
sleep 5
rosrun brazos arm_client.py "stop"
EOF
${SHELL} --rcfile ${tf}
rm -f -- "${tf}"
trap - EXIT
# vim: noet

198
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#!/bin/bash
#This script converts the speech.txt file to a wav and then sends it along with some movements to the Baxter.
pico2wave -w speech.wav "$(cat speech.txt)"
# Copyright (c) 2013-2015, Rethink Robotics
# All rights reserved.
# This file is to be used in the *root* of your Catkin workspace.
# This is a convenient script which will set up your ROS environment and
# should be executed with every new instance of a shell in which you plan on
# working with Baxter.
# Clear any previously set your_ip/your_hostname
unset your_ip
unset your_hostname
#-----------------------------------------------------------------------------#
# USER CONFIGURABLE ROS ENVIRONMENT VARIABLES #
#-----------------------------------------------------------------------------#
# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
# previously set (typically in your .bashrc or .bash_profile), those settings
# will be overwritten by any variables set here.
# Specify Baxter's hostname
baxter_hostname="baxter.local"
# Set *Either* your computers ip address or hostname. Please note if using
# your_hostname that this must be resolvable to Baxter.
your_ip="192.168.1.3"
#your_hostname="my_computer.local"
# Specify ROS distribution (e.g. indigo, hydro, etc.)
ros_version="indigo"
#-----------------------------------------------------------------------------#
tf=$(mktemp)
trap "rm -f -- '${tf}'" EXIT
# If this file specifies an ip address or hostname - unset any previously set
# ROS_IP and/or ROS_HOSTNAME.
# If this file does not specify an ip address or hostname - use the
# previously specified ROS_IP/ROS_HOSTNAME environment variables.
if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
unset ROS_IP && unset ROS_HOSTNAME
else
your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
fi
# If argument provided, set baxter_hostname to argument
# If argument is sim or local, set baxter_hostname to localhost
if [ -n "${1}" ]; then
if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
baxter_hostname="localhost"
if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
your_hostname="localhost"
your_ip=""
fi
else
baxter_hostname="${1}"
fi
fi
topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
cat <<-EOF > ${tf}
[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
# verify this script is moved out of baxter folder
if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
echo -ne "EXITING - This script must be moved from the baxter folder \
to the root of your catkin workspace.\n"
exit 1
fi
# verify ros_version lowercase
ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
# check for ros installation
if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
echo "EXITING - No ROS installation found in /opt/ros."
echo "Is ROS installed?"
exit 1
fi
# if set, verify user has modified the baxter_hostname
if [ -n ${baxter_hostname} ] && \
[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'baxter_hostname' variable to reflect Baxter's current hostname.\n"
exit 1
fi
# if set, verify user has modified their ip address (your_ip)
if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
variable to reflect your current IP address.\n"
exit 1
fi
# if set, verify user has modified their computer hostname (your_hostname)
if [ -n ${your_hostname} ] && \
[[ "${your_hostname}" == "my_computer.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'your_hostname' variable to reflect your current PC hostname.\n"
exit 1
fi
# verify user does not have both their ip *and* hostname set
if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
*EITHER* your_ip or your_hostname.\n"
exit 1
fi
# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
your_ip or your_hostname.\n"
exit 1
fi
# verify specified ros version is installed
ros_setup="/opt/ros/\${ros_version}"
if [ ! -d "\${ros_setup}" ]; then
echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
in \${ros_setup}.\n"
exit 1
fi
# verify the ros setup.sh file exists
if [ ! -s "\${ros_setup}"/setup.sh ]; then
echo -ne "EXITING - Failed to find the ROS environment script: \
"\${ros_setup}"/setup.sh.\n"
exit 1
fi
# verify the user is running this script in the root of the catkin
# workspace and that the workspace has been compiled.
if [ ! -s "devel/setup.bash" ]; then
echo -ne "EXITING - \n1) Please verify that this script is being run \
in the root of your catkin workspace.\n2) Please verify that your workspace \
has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
3) Run this script again upon completion of your workspace build.\n"
exit 1
fi
[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
[ -n "${baxter_hostname}" ] && \
export ROS_MASTER_URI="http://${baxter_hostname}:11311"
# source the catkin setup bash script
source devel/setup.bash
# setup the bash prompt
export __ROS_PROMPT=\${__ROS_PROMPT:-0}
[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
__ros_prompt () {
if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
eval \${__ORIG_PROMPT_COMMAND}
fi
if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="\[\033[00;33m\][baxter - \
\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
fi
}
if [ "\${TERM}" != "dumb" ]; then
export PROMPT_COMMAND=__ros_prompt
__ROS_PROMPT=1
elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
fi
rosrun brazos arm_client.py "afraid"
sleep 5
rosrun camara deliver_speech.py
sleep 44
#nake this sleep longer to suit the length of the text being read.
rosrun brazos arm_client.py "up-down"
sleep 5
rosrun brazos arm_client.py "stop"
EOF
${SHELL} --rcfile ${tf}
rm -f -- "${tf}"
trap - EXIT
# vim: noet

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#!/bin/bash
#This script accepts connections from the talk client.
# Modified from the original by Rethink Robotics
# This file is to be used in the *root* of your Catkin workspace.
# This is a convenient script which will set up your ROS environment and
# should be executed with every new instance of a shell in which you plan on
# working with Baxter.
# Clear any previously set your_ip/your_hostname
unset your_ip
unset your_hostname
#-----------------------------------------------------------------------------#
# USER CONFIGURABLE ROS ENVIRONMENT VARIABLES #
#-----------------------------------------------------------------------------#
# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
# previously set (typically in your .bashrc or .bash_profile), those settings
# will be overwritten by any variables set here.
# Specify Baxter's hostname
baxter_hostname="baxter.local"
# Set *Either* your computers ip address or hostname. Please note if using
# your_hostname that this must be resolvable to Baxter.
your_ip="192.168.1.3"
#your_hostname="my_computer.local"
# Specify ROS distribution (e.g. indigo, hydro, etc.)
ros_version="indigo"
#-----------------------------------------------------------------------------#
tf=$(mktemp)
trap "rm -f -- '${tf}'" EXIT
# If this file specifies an ip address or hostname - unset any previously set
# ROS_IP and/or ROS_HOSTNAME.
# If this file does not specify an ip address or hostname - use the
# previously specified ROS_IP/ROS_HOSTNAME environment variables.
if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
unset ROS_IP && unset ROS_HOSTNAME
else
your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
fi
# If argument provided, set baxter_hostname to argument
# If argument is sim or local, set baxter_hostname to localhost
if [ -n "${1}" ]; then
if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
baxter_hostname="localhost"
if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
your_hostname="localhost"
your_ip=""
fi
else
baxter_hostname="${1}"
fi
fi
topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
cat <<-EOF > ${tf}
[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
# verify this script is moved out of baxter folder
if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
echo -ne "EXITING - This script must be moved from the baxter folder \
to the root of your catkin workspace.\n"
exit 1
fi
# verify ros_version lowercase
ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
# check for ros installation
if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
echo "EXITING - No ROS installation found in /opt/ros."
echo "Is ROS installed?"
exit 1
fi
# if set, verify user has modified the baxter_hostname
if [ -n ${baxter_hostname} ] && \
[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'baxter_hostname' variable to reflect Baxter's current hostname.\n"
exit 1
fi
# if set, verify user has modified their ip address (your_ip)
if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
variable to reflect your current IP address.\n"
exit 1
fi
# if set, verify user has modified their computer hostname (your_hostname)
if [ -n ${your_hostname} ] && \
[[ "${your_hostname}" == "my_computer.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'your_hostname' variable to reflect your current PC hostname.\n"
exit 1
fi
# verify user does not have both their ip *and* hostname set
if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
*EITHER* your_ip or your_hostname.\n"
exit 1
fi
# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
your_ip or your_hostname.\n"
exit 1
fi
# verify specified ros version is installed
ros_setup="/opt/ros/\${ros_version}"
if [ ! -d "\${ros_setup}" ]; then
echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
in \${ros_setup}.\n"
exit 1
fi
# verify the ros setup.sh file exists
if [ ! -s "\${ros_setup}"/setup.sh ]; then
echo -ne "EXITING - Failed to find the ROS environment script: \
"\${ros_setup}"/setup.sh.\n"
exit 1
fi
# verify the user is running this script in the root of the catkin
# workspace and that the workspace has been compiled.
if [ ! -s "devel/setup.bash" ]; then
echo -ne "EXITING - \n1) Please verify that this script is being run \
in the root of your catkin workspace.\n2) Please verify that your workspace \
has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
3) Run this script again upon completion of your workspace build.\n"
exit 1
fi
[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
[ -n "${baxter_hostname}" ] && \
export ROS_MASTER_URI="http://${baxter_hostname}:11311"
# source the catkin setup bash script
source devel/setup.bash
# setup the bash prompt
export __ROS_PROMPT=\${__ROS_PROMPT:-0}
[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
__ros_prompt () {
if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
eval \${__ORIG_PROMPT_COMMAND}
fi
if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="\[\033[00;33m\][baxter - \
\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
fi
}
if [ "\${TERM}" != "dumb" ]; then
export PROMPT_COMMAND=__ros_prompt
__ROS_PROMPT=1
elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
fi
rosrun baxter_tools enable_robot.py -e
rosrun baxter_tools camera_control.py -l
rosrun baxter_tools camera_control.py -c right_hand_camera
rosrun baxter_tools camera_control.py -o head_camera 640x480
rosrun brazos arm_server.py &disown
rosrun camara face_server.py
EOF
${SHELL} --rcfile ${tf}
rm -f -- "${tf}"
trap - EXIT
# vim: noet

191
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#!/bin/bash
# Copyright (c) 2013-2015, Rethink Robotics
# All rights reserved.
# This file is to be used in the *root* of your Catkin workspace.
# This is a convenient script which will set up your ROS environment and
# should be executed with every new instance of a shell in which you plan on
# working with Baxter.
# Clear any previously set your_ip/your_hostname
unset your_ip
unset your_hostname
#-----------------------------------------------------------------------------#
# USER CONFIGURABLE ROS ENVIRONMENT VARIABLES #
#-----------------------------------------------------------------------------#
# Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were
# previously set (typically in your .bashrc or .bash_profile), those settings
# will be overwritten by any variables set here.
# Specify Baxter's hostname
baxter_hostname="baxter.local"
# Set *Either* your computers ip address or hostname. Please note if using
# your_hostname that this must be resolvable to Baxter.
your_ip="192.168.1.3"
#your_hostname="my_computer.local"
# Specify ROS distribution (e.g. indigo, hydro, etc.)
ros_version="indigo"
#-----------------------------------------------------------------------------#
tf=$(mktemp)
trap "rm -f -- '${tf}'" EXIT
# If this file specifies an ip address or hostname - unset any previously set
# ROS_IP and/or ROS_HOSTNAME.
# If this file does not specify an ip address or hostname - use the
# previously specified ROS_IP/ROS_HOSTNAME environment variables.
if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then
unset ROS_IP && unset ROS_HOSTNAME
else
your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}"
fi
# If argument provided, set baxter_hostname to argument
# If argument is sim or local, set baxter_hostname to localhost
if [ -n "${1}" ]; then
if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then
baxter_hostname="localhost"
if [[ -z ${your_ip} || "${your_ip}" == "192.168.XXX.XXX" ]] && \
[[ -z ${your_hostname} || "${your_hostname}" == "my_computer.local" ]]; then
your_hostname="localhost"
your_ip=""
fi
else
baxter_hostname="${1}"
fi
fi
topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]})))
cat <<-EOF > ${tf}
[ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc
[ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile
# verify this script is moved out of baxter folder
if [[ -e "${topdir}/baxter_sdk/package.xml" ]]; then
echo -ne "EXITING - This script must be moved from the baxter folder \
to the root of your catkin workspace.\n"
exit 1
fi
# verify ros_version lowercase
ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")"
# check for ros installation
if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then
echo "EXITING - No ROS installation found in /opt/ros."
echo "Is ROS installed?"
exit 1
fi
# if set, verify user has modified the baxter_hostname
if [ -n ${baxter_hostname} ] && \
[[ "${baxter_hostname}" == "baxter_hostname.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'baxter_hostname' variable to reflect Baxter's current hostname.\n"
exit 1
fi
# if set, verify user has modified their ip address (your_ip)
if [ -n ${your_ip} ] && [[ "${your_ip}" == "192.168.XXX.XXX" ]]; then
echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \
variable to reflect your current IP address.\n"
exit 1
fi
# if set, verify user has modified their computer hostname (your_hostname)
if [ -n ${your_hostname} ] && \
[[ "${your_hostname}" == "my_computer.local" ]]; then
echo -ne "EXITING - Please edit this file, modifying the \
'your_hostname' variable to reflect your current PC hostname.\n"
exit 1
fi
# verify user does not have both their ip *and* hostname set
if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
*EITHER* your_ip or your_hostname.\n"
exit 1
fi
# verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set
if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then
echo -ne "EXITING - Please edit this file, modifying to specify \
your_ip or your_hostname.\n"
exit 1
fi
# verify specified ros version is installed
ros_setup="/opt/ros/\${ros_version}"
if [ ! -d "\${ros_setup}" ]; then
echo -ne "EXITING - Failed to find ROS \${ros_version} installation \
in \${ros_setup}.\n"
exit 1
fi
# verify the ros setup.sh file exists
if [ ! -s "\${ros_setup}"/setup.sh ]; then
echo -ne "EXITING - Failed to find the ROS environment script: \
"\${ros_setup}"/setup.sh.\n"
exit 1
fi
# verify the user is running this script in the root of the catkin
# workspace and that the workspace has been compiled.
if [ ! -s "devel/setup.bash" ]; then
echo -ne "EXITING - \n1) Please verify that this script is being run \
in the root of your catkin workspace.\n2) Please verify that your workspace \
has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\
3) Run this script again upon completion of your workspace build.\n"
exit 1
fi
[ -n "${your_ip}" ] && export ROS_IP="${your_ip}"
[ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}"
[ -n "${baxter_hostname}" ] && \
export ROS_MASTER_URI="http://${baxter_hostname}:11311"
# source the catkin setup bash script
source devel/setup.bash
# setup the bash prompt
export __ROS_PROMPT=\${__ROS_PROMPT:-0}
[ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \
export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND}
__ros_prompt () {
if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then
eval \${__ORIG_PROMPT_COMMAND}
fi
if ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="\[\033[00;33m\][baxter - \
\${ROS_MASTER_URI}]\[\033[00m\] \${PS1}"
fi
}
if [ "\${TERM}" != "dumb" ]; then
export PROMPT_COMMAND=__ros_prompt
__ROS_PROMPT=1
elif ! echo \${PS1} | grep '\[baxter' &>/dev/null; then
export PS1="[baxter - \${ROS_MASTER_URI}] \${PS1}"
fi
rosrun baxter_tools enable_robot.py -e
rosrun baxter_tools camera_control.py -l
rosrun baxter_tools camera_control.py -c right_hand_camera
rosrun baxter_tools camera_control.py -o head_camera 640x480
rosrun brazos arm_server.py &disown
rosrun camara face_server.py
EOF
${SHELL} --rcfile ${tf}
rm -f -- "${tf}"
trap - EXIT
# vim: noet

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#!/usr/bin/python2
# Copyright (c) 2013-2015, Rethink Robotics
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# 3. Neither the name of the Rethink Robotics nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import os
import sys
import argparse
import rospy
from baxter_core_msgs.msg import JointCommand
import baxter_interface
from std_msgs.msg import String
state="stop"
def state_machine(data):
global state
state=data.data
print state
def talker():
print ("hola")
global state
state="stop"
rospy.Subscriber('arm_move', String, state_machine)
pub_left = rospy.Publisher('robot/limb/left/joint_command', JointCommand, queue_size=1)
pub_right = rospy.Publisher('robot/limb/right/joint_command', JointCommand, queue_size=1)
rospy.init_node("brazo_control")
rate=rospy.Rate(15)
contador=0
contador_afraid=0
while not rospy.is_shutdown():
if (state=="stop"):
pub_left.publish(mode=1,command=[-0.48, -0.505, 0.041, 1.77, 0.018, 0.266, 3.048],names=['left_s0','left_s1','left_e0','left_e1','left_w0','left_w1','left_w2'])
pub_right.publish(mode=1,command=[0.477, -0.4, 0.2, 1.45, 2.75, -0.45, 3.05],names=['right_s0','right_s1','right_e0','right_e1','right_w0','right_w1','right_w2'])
if (state=="up-down"):
print contador
if contador<30:
pub_left.publish(mode=1,command=[0.004, 0.265, 3.045, 0.005, 1.787, -0.49, -1.03],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
pub_right.publish(mode=1,command=[0.34, -0.08, 3.035, -0.066, 3.035, 0.133, 1.55],names=['right_s0', 'right_s1' , 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
contador=contador+1
if contador>=30:
pub_left.publish(mode=1,command=[0.004, -0.0939, 3.044, 0.0038, 1.699, -0.518, -0.151],names=['left_w0', 'left_w1' , 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
pub_right.publish(mode=1,command=[0.36, -0.82, 2.91, -0.934, 3.05, 0.225, 1.402],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
contador=contador+1
if contador==60:
contador=0
if (state=="two_hands"):
if contador<100:
pub_left.publish(mode=1,command=[0.018, -0.204, 3.046, 0.225, -0.044, -0.507, -0.60],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
pub_right.publish(mode=1,command=[0.5, -0.85, 2.8, 0.22, 3.05, 0.007, 0.406],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
if contador==100:
contador=0
state="stop"
if (state=="left_hand"):
if contador<100:
pub_left.publish(mode=1,command=[-1.45, 0.182, 3.018, 0.041, -0.039, -0.777, -0.011],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
pub_right.publish(mode=1,command=[0.477, -0.4, 0.2, 1.45, 2.75, -0.45, 3.05],names=['right_s0','right_s1','right_e0','right_e1','right_w0','right_w1','right_w2'])
if contador==100:
contador=0
state="stop"
if (state=="right_hand"):
if contador<100:
pub_left.publish(mode=1,command=[-0.48, -0.505, 0.041, 1.77, 0.018, 0.266, 3.048],names=['left_s0','left_s1','left_e0','left_e1','left_w0','left_w1','left_w2'])
pub_right.publish(mode=1,command=[0.21, -0.194, 3.059, -0.268, 3.054, 0.923, 0.356],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
if contador==100:
contador=0
state="stop"
if (state=="afraid"):
if contador<50:
pub_left.publish(mode=1,command=[-0.238, -0.0329, 3.044, 0.270, -0.0498, -0.49, -1.157],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
pub_right.publish(mode=1,command=[0.58, -1.1635,3.0579, -0.156, 3.053, -0.0145, -0.0498],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
contador=contador+1
if contador>=50:
pub_left.publish(mode=1,command=[-0.711, 0.009, 3.04, 0.287, 0.262, -0.437, -1.0787],names=['left_w0', 'left_w1', 'left_w2', 'left_e0', 'left_e1', 'left_s0', 'left_s1'])
pub_right.publish(mode=1,command=[0.091, -1.160, 3.059,-0.333,3.053, 0.1096, 0.365],names=['right_s0', 'right_s1', 'right_w0', 'right_w1', 'right_w2', 'right_e0', 'right_e1'])
contador=contador+1
if contador==100:
contador=0
contador_afraid=contador_afraid+1
if contador_afraid==2:
state="stop"
ontador_afraid=0
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass

20
the_baxter_mimic/camara/deliver_speech.py Normal file
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#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String
import sys
def talker():
pub = rospy.Publisher('face_type', String, queue_size=10)
rospy.init_node('face_client', anonymous=True)
rate = rospy.Rate(10) # 10hz
audio="speech.wav"
pub.publish(audio)
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass

20
the_baxter_mimic/camara/face_client Normal file
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#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String
import sys
def talker():
pub = rospy.Publisher('face_type', String, queue_size=10)
rospy.init_node('face_client', anonymous=True)
rate = rospy.Rate(10) # 10hz
audio="src/camara/scripts/"+sys.argv[1]
pub.publish(audio)
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass

72
the_baxter_mimic/camara/face_server.py Normal file
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#!/usr/bin/python2
import os
import sys
import argparse
import threading
import rospy
import cv2
import cv_bridge
import pyaudio
import wave
import sys
import math
import matplotlib.pyplot as plt
import numpy as np
CHUNK = 1024
from std_msgs.msg import String
from sensor_msgs.msg import (
Image,
)
audio_path="src/camara/scripts/audio.wav"
def callback(data):
arg1="src/camara/scripts/conversacion/saludo3.png"
arg2="src/camara/scripts/conversacion/saludo10.png"
img1 = cv2.imread(arg1)
img2 = cv2.imread(arg2)
msg1 = cv_bridge.CvBridge().cv2_to_imgmsg(img1, encoding="bgr8")
msg2 = cv_bridge.CvBridge().cv2_to_imgmsg(img2, encoding="bgr8")
pub = rospy.Publisher('/robot/xdisplay', Image, latch=True, queue_size=1)
pub.publish(msg1)
global audio_path
audio_path=data.data
wf = wave.open(audio_path, 'rb')
# instantiate PyAudio (1)
p = pyaudio.PyAudio()
# open stream (2)
stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
channels=wf.getnchannels(),
rate=wf.getframerate(),
output=True)
data = wf.readframes(CHUNK)
# play stream (3)
frames=[]
while len(data) > 0:
stream.write(data)
data = wf.readframes(CHUNK)
signal = np.fromstring(data, 'Int16')
if (math.fabs(np.average(signal))<5):
pub.publish(msg1)
else:
pub.publish(msg2)
def manage_audio():
rospy.init_node("estado2")
rate=rospy.Rate(10)
contador=1
rospy.Subscriber('face_type', String, callback)
print ("callback")
rospy.spin()
if __name__ == '__main__':
try:
manage_audio()
except rospy.ROSInterruptException:
pass

10
the_baxter_mimic/speech.txt Normal file
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Hi. I'm Baxter.
I very much enjoyed being on the CineGlobe jury.
I can tell you, that I, really enjoyed session six.
Or I should say you, enjoyed session six.
However, I found it very, difficult to make a decision.
I don't know how you humans do it.
I guess, judging art just isn't, yet, for machines.
But I will let, Mohanty, explain to you how I was going to decide my favorite film.
Mohanty, would, you, like to come up here?
Everyone, Mohanty, Sharada, from the Artificial Intelligence, lab at the, Ecole, Polytechnique, Federale, de Lausanne.