RoCKIn@Home Referee, Scoring and Benchmarking Box

⚠️ This version of the RSBB is deprecated. Use the new version: https://github.com/rockin-robot-challenge/rsbb

This repository contains the RoCKIn@Home Referee, Scoring and Benchmarking Box.

The repository RoAH RSBB Comm from https://github.com/rockin-robot-challenge/at_home_rsbb_comm is included as a git submodule.

⚠️ Please remember to always update right before the competitions!

git pull
git submodule update --init

Dependencies

You need to have installed a C++11 compiler, CMake, Boost, Protobuf and OpenSSL.

If you are using Ubuntu, install the dependencies with:

sudo apt-get install build-essential cmake libboost-all-dev libprotoc-dev protobuf-compiler libssl-dev

Furthermore, you need to use at least ROS Hydro, follow the instructions at http://wiki.ros.org/ROS/Installation/ .

This was tested with Ubuntu 12.04.5 LTS (Precise Pangolin) and 14.04.1 LTS (Trusty Tahr).

This package depends on the roah_devices and the rockin_benchmarking packages, which must be available in the Catkin workspace.

• roah_devices can be cloned or downloaded from http://github.com/joaocgreis/roah_devices
• rockin_benchmarking can be downloaded from http://users.isr.tecnico.ulisboa.pt/~jreis/rockin/rockin_benchmarking_2182.tar.xz

For rockin_benchmarking to run, it is also necessary to install the Levenshtein module for Python:

sudo easy_install python-Levenshtein

Compiling

After git clone and after every git pull, please do:

git submodule update --init

Compile as a normal ROS package in your Catkin workspace. Make sure roah_devices is available.

Running

You can run the full RSBB including the Core, the Interface and the devices node with:

roslaunch roah_rsbb roah_rsbb.launch

For a test with dummy home devices use:

roslaunch roah_rsbb roah_rsbb_dummy.launch rsbb_host:=192.168.1.255 --screen

The rsbb_host parameter should be set to the Bcast of the interface you want to use, as reported by ifconfig. Do not run the RSBB in the same computer as the client (robot).

It may be necessary to delete the rqt cache for the new components to appear:

rm ~/.config/ros.org/rqt_gui.ini

For testing of FBM1 and FBM2 without a MOCAP system and the benchmarking modules run the following in parallel with the RSBB:

roslaunch roah_rsbb dummy_benchmarking_module.launch

Securing the RSBB

Make sure that you run these commands in whatever computer runs the RSBB:

sudo iptables -A INPUT -i lo -p tcp -m tcp --dport 11311 -j ACCEPT
sudo iptables -A INPUT -p tcp -m tcp --dport 11311 -j DROP

You might add this to /etc/rc.local, before the exit command.

To be able to connect from other computers safely, you must install the openssh-server package:

sudo apt-get install openssh-server

Make sure the ROS_IP variable is set correctly.

Connecting from remote computers

To launch RSBB clients in other computers, you must have the openssh-server package installed in the server and be running the RSBB. Then, in the remote computer do:

ssh -L 127.0.0.1:11311:10.0.0.1:11311 rockin@10.0.0.1

In this example, the user is named rockin and the server is at 10.0.0.1. The 127.0.0.1 at the beginning is mandatory.

Make sure the ROS_IP variable is set correctly.

Then, just run the client as if the ROS master were local:

roslaunch roah_rsbb roah_rsbb_client.launch