RoboGen-QBO

Holds all python projects of QBO One Robot ("opt/qbo"-folder on Raspberry Pi 3)

Currently features:

• EmotionAnalysis of Faces in VideoStreams
• EmotionAnalysis of Sentences in Audio-Communications
• DecisionTrees imported from Alexa, but ran locally
• All functionality used on Q.Bo One to control Head, Mouth, Nose and Ears
• Bluetooth-Connection adapter to tablet android app
• Saved personal Settings
• Sample Python-Scripts from TheCorpora
• ROS Action Server implementation with self-registry feature

Info: Autorun-Information on Q.Bo One can be found in main info.txt file (please keep this info file updated if you add any autostart scripts)

SD Card Images

In addition to this repository: hardware-specific changes to Q.Bo and OS changes are stored in 16GB and 32GB SD-Card images on a local harddrive: in case you ever need these backups to restore an older Q.Bo-version please contact "SRFG-MAT"

preconditions for first installation

• installed OS on QBO: Debian/Stretch
• installed ROS on QBO: ROS Kinetic
• for Raspbian install, try to use alternative install guide: http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
• this project uses a python based action server following the instructions here: http://docs.ros.org/en/hydro/api/catkin/html/user_guide/setup_dot_py.html
• this project requires as a dependency: actionlib git-repo (https://github.com/ros/actionlib / branch: indigo-devel)
• this project requires rosdep installation following: https://wiki.ros.org/rosdep

steps to create the catkin workspace with ROS

1. "mkdir –p /opt/QBO/catkin_ws/src"
2. "cd /opt/QBO/catkin_ws/src"
3. "catkin_init_workspace"
4. checkout this git repo in the src-dir
5. checkout the actionlib git repo (https://github.com/ros/actionlib / branch: indigo-devel) in the src-dir
6. "cd ~/catkin_ws/"
7. "catkin_make" (first build of actionlib will take some time)
8. "source /opt/QBO/catkin_ws/devel/setup.bash"
9. "echo "source /opt/QBO/catkin_ws/devel/setup.bash" >> ~/.bashrc"
10. "rosdep install -y --from-paths /opt/QBO/catkin_ws --ignore-src --rosdistro kinetic -r --os=debian:stretch" (from workspace, needs a root user terminal or "sudo" command depending on local setup, use "pkexec su" to login console as root!)
11. "catkin_create_pkg robogenqbo std_msgs rospy roscpp"

start with

1. "roscore"
2. "rosrun robogenqbo [name_of_python_file.py]"

connectivity

Q.BO One Robot:

• package_name: "robogenqbo"
• Hostname: "qbo"
• IP-Address: "192.168.48.58"
• to check for connectivity try steps: http://wiki.ros.org/ROS/NetworkSetup
• to check environment variable setup try: http://wiki.ros.org/ROS/EnvironmentVariables

Maser Node is setup and provided by Franka Panda PC:

• IP-Address: "192.168.48.41"
• Hostname: "il041"