Edwin Installation Instructions

Edwin Installation Instructions

Getting Code to Run

1. Clone github repository into your catkin_ws/src folder

• if you don't have ROS indigo, install it with these instructions (use ros-indigo-desktop-full)

2. Install dependencies:

Basic processes:

- copy
- random
- time
- logging
- datetime
- pickle
- os
- sys
- serial
- re
- shlex
- threading
- subprocess
- struct

Ros packages

- std_msgs
- common_msgs (sensor_msgs)
- rospy
- rospkg
- roslib

Mathematical processing:

- math
- numpy
- scipy
- operator
- itertools

Visual processing:

- cv2
- cv_bridge
- Tkinter
- csv

Audial processing:

- pyaudio
- Queue
- alsaaudio
- audioop
- wave
- pocketsphinx
- sphinxbase
- espeak

3. Under construction

Launch Files

robot.launch Fully operational launch of all demo systems.

Requirements:

• Loads Edwin's brain (brain.py)
• Loads idle behaviors (idle.py)
• USB cam feed required (image_raw, camera_info)
• Arm must be on (arm_node.py, arm_behaviors.py, arm_draw.py)

robot_minimal.launch Mostly for quick behavior debugging. This is the minimum needed to "operate" Edwin. No camera.

Requirements:

• Loads Edwin's brain (brain.py)
• Arm must be on (arm_behaviors.py)
• Kinect must be on and connected.

robot_sight.launch Meant for testing only. This launch file only loads camera and Kinect scripts; the arm does not boot up.

Requirements:

• Kinect must be on and connected.
• USB cam feed required (image_raw, camera_info).