Install

Tested on Linux Ubuntu systems with Docker CLI version 19.03.6 and docker-compose version 1.28.2.

docker

Install Docker CLI (not Docker Desktop!!!).

See also Post-installation steps for Linux. In particular, add your user to the docker group and log out and in again, before proceeding.
docker-compose

You need to install the latest version 1.28, check it with
```
  docker-compose --version
```

For Nvidia drivers, install nvidia-docker2

  https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html

Setup

Clone this repository

  git clone https://github.com/iocchi/DIAG_demo.git

VNC-based xserver (if you want to run it GUI-less or have problems with your graphic card)
```
  docker pull devrt/xserver
```
Download Contingent-ff

Download Contingent-ff and copy it in the bin folder of this repository

Run

On host OS, move to bin folder of this repository

    cd DIAG_demo/bin

Start docker containers

Start using OS display (it may not work with Nvidia cards)
```
  ./start.bash
```
or start with
```
  ./start.bash nvidia
```
or start with VNC
```
  ./start.bash vnc
```
and open a browser at http://localhost:3000 to see the simulator.

Note: the first time you run this command it will download docker images (it would take some time and require good network connection).
Start a scenario

Start a scenario script in DIAG_demo/bin folder
```
  ./scenario1.bash
```
This script will launch ROS nodes and action proxies
Run a plan
```
  ./run_plan.bash [<plan_name>|stop]
```
Example for scenario1:
```
  ./run_plan.bash DIAG_printer_2
```
The robot goes to the printer and checks the light color, if it is red, the robot tells it to the blue person, then it goes back home.

See other plans in the plans folder.

Scenario configuration

Copy and edit scenario<n>.bash and actions_scenario<n>.bash to customize a scenario configuration. Do not modify the files in the folder as they are under git control and will prevent further updates.

Set robot pose
```
  ./setrobotpose.bash <X> <Y> <th_deg>
```
Example
```
  ./setrobotpose.bash 2.0 2.0 0
```
Note: if localizer is already started, make sure to re-localize the robot after this command (for example, by using rviz)

Set person pose

  ./setpersonpose.bash <name> <X> <Y> <th_deg>

Example

  ./setpersonpose.bash alice 5.4 2.2 1.57

Change light status
```
  ./setlight.bash [red|green]
```
Run the plan to see different behaviors according to the light color.

Stop demo and quit all services

    ./stop.bash

Development

For development or to run the last versions of code, follow these additional instructions.

Download MARRtino apps and other repos in $HOME/src

  cd $HOME/src
  git clone --depth 1 https://bitbucket.org/iocchi/marrtino_apps.git
  git clone --depth 1 https://bitbucket.org/iocchi-/stage_environments.git
  git clone --depth 1 https://github.com/Imperoli/gradient_based_navigation.git
  git clone --depth 1 https://github.com/iocchi/stagepersondetection.git
  git clone --depth 1 https://github.com/iocchi/PetriNetPlans

Set environment variable MARRTINO_APPS_HOME

Set MARRTINO_APPS_HOME to marrtino_apps folder

In ~/.bashrc
```
  export MARRTINO_APPS_HOME=<PATH_TO>/marrtino_apps
```
Set environment variable DEMO_DIR

Set demo folder in environment variable DEMO_DIR
```
  export DEMO_DIR=<path to demo>
```
If using .bashrc, open a new terminal before running the demo

Check the settings
```
  echo $MARRTINO_APPS_HOME
  echo $DEMO_DIR
```
Start all services in development mode
```
  ./start.bash dev
```