Instruction Graphs

This is a 15-400 research project based off the work on instruction graphs described in https://www.cs.cmu.edu/~mmv/papers/14aamas-MericliEtAl.pdf.

Dependencies

python2
ply (installable via pip install ply)
ros-indigo-turtlebot-simulator (try sudo apt-get install ros-indigo-turtlebot-simulator on Ubuntu)

Running the interpreter

git clone https://github.com/anuragkanungo/instructiongraphs
cd instructiongraphs/IGinterpreter
roslaunch turtlebot_stage turtlebot_in_stage.launch &
python main.py new.ig

Alternately, run tbot using move_base

roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation amcl_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
python main.py new.ig

Notes about Implementation

The interpreter by default requires a running instance of the turtlebot simulator, which is very slow and will cause your computer to become slow to respond. You have been warned. Alternatively, you could edit the code pretty easily in dynamics.py to disable calls to the simulator and merely print things instead.
The move command takes two arguments. The first refers to distance, and the second to angular rotation.
In order to detect obstacles, the interpreter relies on user input. Enter 'y', 'yes', or an empty string to respond with 'yes', else 'no'.

Checking run status and goal

rostopic echo instructiongraphs_status
rostopic echo instructiongraphs_goal

Writing a new instruction graph

Please refer to IG Structure.md in the root.

Understanding implementation of interpreter

Please refer to Interpreter IMPL.md in the root.

Report

The final report for 15-400 is in the report subdirectory. The paper itself is paper.tex, but the report also contains several appendices which are the other tex files in the directory.

anuragkanungo/instructiongraphs