First you should run the following commonds in terminal. Open the first terminal and source it after that
roslaunch suturo_demos suturo_bringup.launch upload_hsrb:=true use_rviz:=true
Open another terminal, source it and run
roslaunch suturo_manipulation start_manipulation_easy.launch
In another terminal and after only source it to hsr run the following
source rk_venv/bin/activate
source SUTURO_WSS/perception_ws/devel/setup.bash
rosrun robokudo main.py _ae=demo_robocup _ros_pkg=suturo_rk_robocup
open another terminal open the emac
roslisp_repl
on the emac first you have to load the packages that we use and open the rosnode
(swank:operate-on-system-for-emacs "suturo-demos" (quote load-op)) (in-package :su-demos) (swank:operate-on-system-for-emacs "suturo-real-hsr-pm" (quote load-op))
(roslisp-utilities:startup-ros)
We have some main plan that are used in every gpsr task Navigation-to-location,searching,Fetch,deliver-to-location,Transport-to-location,Counting,Describing,guiding and Following. You can find all of these plans inside the gpsr-plan.lisp file in the suturo-demo folder. There also some other plans and parameters that called inside of these palns also you need to load them before doing any task. Find these plans in the subplan.lisp file in the suturo-demo consists of some looking direction parameters and some plans.
Each plan has some parameters that you should consider to put when you want to run the plan, for example for navigation-to-locaton plan we have two input parameters, ?furniture-location ?room. If you want to ask the robot to go to the bedroom call the function like this (navigation-to-location :nil ?bedroom).
Please consider that you shouldn't some of the plan like navigatio-to-location separately because normally it calls by other plans like fetch and others. For example if you ask the robot to fetch something, first it navigate to a location, then search for the object and finally fetch it. So you sholdn't call them by yourself.