Commit 7054b150 authored by Leroy John Rügemer's avatar Leroy John Rügemer
Browse files

add cupro_ecwm components

parent 2a728c87
*.swp
.idea
mongodb.log
build
\ No newline at end of file
......@@ -23,22 +23,12 @@ include_directories(${catkin_INCLUDE_DIRS})
FILE(GLOB path_files "systems/env/*.in")
FILE(GLOB demo_files "systems/demo/*.yaml")
IF(DEFINED ENV{prefix} AND HYPERION_ENV_PREFIX)
message( STATUS "Both PREFIX env var and HYPERION_ENV_PREFIX are defined. Choosing HYPERION_ENV_PREFIX over prefix env var!")
SET(HYPERION_ENV_ROOT HYPERION_ENV_PREFIX)
ELSEIF(NOT HYPERION_ENV_PREFIX AND DEFINED ENV{prefix})
message( STATUS "Setting path prefix to: $ENV{prefix}")
IF(DEFINED ENV{prefix})
message( STATUS "PREFIX env var is defined. Setting path prefix to: $ENV{prefix}")
SET(HYPERION_ENV_ROOT $ENV{prefix})
ELSEIF(HYPERION_ENV_PREFIX)
SET(HYPERION_ENV_ROOT ${HYPERION_ENV_PREFIX})
ENDIF()
IF((NOT DEFINED ENV{prefix}) AND (NOT HYPERION_ENV_PREFIX) AND (NOT ${path_files}))
message( FATAL_ERROR "PREFIX env var is not set and HYPERION_ENV_PREFIX was not specified. Can't install files!" )
ENDIF()
IF(${path_files})
message( STATUS "Found path relevant file to be installed ...")
ELSE()
message( STATUS "Setting path prefix to: $CMAKE_INSTALL_PREFIX = " ${CMAKE_INSTALL_PREFIX})
SET(HYPERION_ENV_ROOT ${CMAKE_INSTALL_PREFIX})
ENDIF()
install(DIRECTORY components
......@@ -61,7 +51,7 @@ ENDFOREACH()
FOREACH(file ${demo_files})
GET_FILENAME_COMPONENT(demoname ${file} NAME_WE)
SET(HYPERION_CONFIG_FILE "${HYPERION_ENV_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/systems/demo/${demoname}.yaml")
SET(HYPERION_CONFIG_FILE "${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/systems/demo/${demoname}.yaml")
SET(hyperion_starter "hyperion_${demoname}.sh")
CONFIGURE_FILE(hyperion_start.in ${hyperion_starter} @ONLY)
INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${hyperion_starter}"
......
name: ecwm
cmd:
- start: |
source_ecwm
stdbuf -oL -eL roslaunch ecwm_cupro ecwm_cupro.launch
- check: #TODO
tags:
- kbase
requires:
- base_system
provides:
- world_model
host: ${basepc}
#!/usr/bin/env bash
export prefix=@HYPERION_ENV_ROOT@
export PATH="${prefix}/bin:$PATH"
#ROS source alias
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
......@@ -17,3 +14,13 @@ export PATH_TO_PSA_CONFIG="${prefix}/share/SpeechRec/psConfig"
export PATH_TO_BONSAI_ROBOCUP_CONFIG="${prefix}/opt/bonsai_robocup_addons/etc/bonsai_configs"
export PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG="${prefix}/opt/bonsai_robocup_exercise/etc/bonsai_configs"
export PATH_TO_BONSAI_TIAGO_CONFIG="${prefix}/opt/bonsai_tiago_addons/etc/bonsai_configs"
# Path to scxml locations
export PATH_TO_BONSAI_ROBOCUP_SCXML="${prefix}/opt/bonsai_robocup_addons/etc/state_machines"
export PATH_TO_BONSAI_CORE_SCXML="${prefix}/opt/bonsai-scxml_engine/etc/behaviors"
export PATH_TO_BONSAI_ROBOCUPTASKS_SCXML="${prefix}/opt/bonsai_robocup_exercise/etc/state_machines"
export PATH_TO_BONSAI_PEPPER_SCXML="${prefix}/opt/bonsai2-pepper-dist/etc/state_machines"
export PATH_TO_BONSAI_TIAGO_SCXML="${prefix}/opt/bonsai_tiago_addons/etc/state_machines"
# Create mapping variable, used by bonsai to resolve "src=" attributes in scxml files
export BONSAI_MAPPING="ROBOCUP=${PATH_TO_BONSAI_ROBOCUP_SCXML} SCXML=${PATH_TO_BONSAI_CORE_SCXML} EXERCISE=${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML} PEPPER=${PATH_TO_BONSAI_PEPPER_SCXML} TIAGO=${PATH_TO_BONSAI_TIAGO_SCXML}"
\ No newline at end of file
#!/usr/bin/env bash
if [[ "$SIMMODE" = true ]]; then
echo "### SIMMODE IS ACTIVE ###"
export ecwm_prefix="$prefix"
else
echo "### SIMMODE IS NOT ACTIVE ###"
export ecwm_prefix="/vol/tiago/melodic-clf-cupro"
fi
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ecwm="source ${ecwm_prefix}/setup.${setup_suffix}"
#!/usr/bin/env bash
export prefix=@HYPERION_ENV_ROOT@
export PATH="${prefix}/bin:$PATH"
source ./default_paths.sh
\ No newline at end of file
......@@ -37,31 +37,9 @@ else
export alsa_device="plug_tiago_mono"
fi
#source ./paths.sh
source ./default_paths.sh
export PATH="${prefix}/bin:$PATH"
#ROS source alias
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
#PocketSphinx paths
export PATH_TO_PSA_CONFIG="${prefix}/share/SpeechRec/psConfig"
# Path to bonsai config
export PATH_TO_BONSAI_ROBOCUP_CONFIG="${prefix}/opt/bonsai_robocup_addons/etc/bonsai_configs"
export PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG="${prefix}/opt/bonsai_robocup_exercise/etc/bonsai_configs"
export PATH_TO_BONSAI_TIAGO_CONFIG="${prefix}/opt/bonsai_tiago_addons/etc/bonsai_configs"
# Path to scxml locations
export PATH_TO_BONSAI_ROBOCUP_SCXML="${prefix}/opt/bonsai_robocup_addons/etc/state_machines"
export PATH_TO_BONSAI_CORE_SCXML="${prefix}/opt/bonsai-scxml_engine/etc/behaviors"
export PATH_TO_BONSAI_ROBOCUPTASKS_SCXML="${prefix}/opt/bonsai_robocup_exercise/etc/state_machines"
export PATH_TO_BONSAI_PEPPER_SCXML="${prefix}/opt/bonsai2-pepper-dist/etc/state_machines"
export PATH_TO_BONSAI_TIAGO_SCXML="${prefix}/opt/bonsai_tiago_addons/etc/state_machines"
# Create mapping variable, used by bonsai2 to resolve "src=" attributes in scxml files
export BONSAI_MAPPING="ROBOCUP=${PATH_TO_BONSAI_ROBOCUP_SCXML} SCXML=${PATH_TO_BONSAI_CORE_SCXML} EXERCISE=${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML} PEPPER=${PATH_TO_BONSAI_PEPPER_SCXML} TIAGO=${PATH_TO_BONSAI_TIAGO_SCXML}"
##########
#Laptop setup
......
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