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CodeBotler Robot Interface

CodeBotler utilizes ROS actions to execute generated code on a real robot. robot_interface/src/robot_client_interface.py defines the action clients that CodeBotler uses to call the robot action servers. The action definitions are in robot_interface/src/robot_actions_pkg/action. An example robot action server script is provided in robot_interface/src/robot_server_example.py - the example server simply prints action calls to the terminal, along with the call arguments and the result. You can use this example script as a template to implement the action servers for your robot.

Build

To build the action messages and the CodeBotler client:

  1. Navigate to the robot_interface subdirectory and run catkin_make: 
    cd robot_interface
catkin_make
  2. Source the Catkin workspace setup script: 
    source devel/setup.bash
  3. Optionally, add the Catkin workspace setup script to your ~/.bashrc file to automatically source the setup script when opening a new terminal. 
    echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc

Usage

The robot-specific action server must be launched before running the deployment interface.

  1. Launch your robot action server. To launch the example server: 
    python3 robot_interface/src/robot_server_example.py
  2. Launch the deployment script on the robot: 
    python3 codebotler_deploy.py --robot --ip <robot_ip>
  3. Open http://<robot_ip>:8080/ in your browser to access the deployment interface.