05/2014 - 2017, Oswald Berthold
Python code from the Closed-loop sphero behaviour paper 1.
This is built on top of the following stacks, make sure to have that installed (tested only on Ubuntu)
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python-numpy, python-bluetooth, … Use apt-get / distro mechanism
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ROS base install, use apt-get
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sphero_ros driver from 2, install via $ROSDISTRO_workspace catkin_make. See the ROS wiki how to set up a catkin workspace.
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get smp_msgs 3 and install it into your ROS workspace
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get smp_base from https://github.com/x75/smp_base, then do
export PYTHONPATH=../smp_base:$PYTHONPATH
This is the launch sequence for the sphero ROS node
roscore
python src/sphero_ros/sphero_node/nodes/sphero.py
`sphero.py` accepts arguments such as sensorimotor loop frequency and also a BT target address to connect directly to a given device, if you know it. The experiments are tuned to 20 Hz sampling rate so we need to do
python src/sphero_ros/sphero_node/nodes/sphero.py --freq 20
or
python src/sphero_ros/sphero_node/nodes/sphero.py --freq 20 --target_addr sp:he:ro:sa:dd:re
When roscore and sphero.py are up and running, you can run ROS clients like e.g. sphero_joystick.py
rosrun joy joy_node
A few of the utils/tests to check the basic communication is working
| **Utils** | |
|---|---|
| bluerssi.py | Log BT rssi values |
| sphero\_colors.py | Basic color actuation with ros |
| sphero\_joystick.py | Control sphero via ros joy\_node |
| sphero\_raw.py | Minimal test of raw communication protocol |
| sphero\_simple\_openloop.py | Simple open-loop command test |
| sphero\_test.py | Another minimal test |
When that works, you could try the learning experiments, just to disentangle possible sources of errors.
| **Experiments** | |
|---|---|
| sphero\_res\_learner\_1D.py | |
| sphero\_res\_learner\_2D\_polar.py | |
| sphero\_res\_learner\_2D.py | |
| sphero\_res\_learner\_1D\_analyze.py | |
| sphero\_data\_recorder.py | |
| hk2.py | Homeostasis and homeokinesis from lpzrobots, |
| Der & Martius, 201, Playful machines |
python sphero_res_learner_1D.py --config default.cfg
You can copy the default.cfg and start editing it to play around with different targets and parameters.
Or try the homeokinesis example and play with self.*_gain parameters (in the code)
python hk2.py --mode hk --loop_time 0.05
1 Berthold and Hafner, 2015, Closed-loop acquisition of behaviour on the Sphero robot, https://mitpress.mit.edu/sites/default/files/titles/content/ecal2015/ch084.html