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VALUE3S IFARLAB Marver Advance Monitoring

The repository is about MARVERS ADVANCE MONITORING.

Features

It visualize environment, gazebo world and OMA, ODT and OHT data.

Alt text

Requirements

  • Ubuntu 20.04
  • ROS Noetic
  • python3
  • python3-pip

requirements.txt:

  • PyQt5
  • pyqt5-tools
  • reelay
  • PyYAML
  • websocket-client
  • rospy-message-converter
  • rospkg
  • netifaces
  • nodeeditor
  • psycopg2
  • pyqtgraph

Installation

$ git clone https://github.com/inomuh/valu3s-ifarlab-mam.git

$ sudo apt install python3-pip

$ pip3 install -r requirements.txt

How to Start

You have to add your master ip to host list.

$ sudo nano /etc/hosts

Add ROS_MASTER_IP and ROS MASTER NAME to the hosts file.

example:

192.168.3.4 otapc

$ export ROS_MASTER_URI=http://<ROS_MASTER_IP>:11311

You should build adservice ros package in your workspace. If you don't have any workspace create catkin_ws and src folders. 

$ mkdir -p catkin_ws/src

Cut and paste adservice folder in to src folder than build catkin_ws workspace.

$ cd ~/catkin_ws && catkin_make

You should source ros and your workspace from your bashrc file.

$ echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

After these steps you can run MAM at your new terminal.

$ python3 <dir_to_marver_advance_monitoring>/marver_advance_monitoring.py

Published Topics:

  • mam_chkbx (std_msgs/String)

Checkbox status on user interface

Subscribed Topics:

  • env_cam (sensor_msgs/Image)

Environment camera topic

  • outside_camera1/image_raw (sensor_msgs/Image)

Gazebo environment camera topic

  • outside_camera2/image_raw (sensor_msgs/Image)

Gazebo environment camera topic

  • outside_camera3/image_raw (sensor_msgs/Image)

Gazebo environment camera topic

  • odt_json (std_msgs/String)

Data of ODT

  • mon_odt/monitor_verdict (std_msgs/String)

ODT Runtime verification

  • mam_oma (std_msgs/String)

Data of OMA

  • mon_oma/monitor_verdict (std_msgs/String)

OMA Runtime verification

  • task_status (std_msgs/String)

Data of system task status

  • adrv (adservice/adrv)

Data of Adrv

  • mon_adrv/monitor_verdict (std_msgs/String)

Adrv Runtime verification

  • oht (std_msgs/Float32)

Closest distance of human joint to robot joint

  • mon_oht/monitor_verdict

OHT Runtime verification

The Contributors

License

See LICENSE-APACHE and LICENSE-MIT for details.