VALUE3S IFARLAB Marver Advance Monitoring

The repository is about MARVERS ADVANCE MONITORING.

Features

It visualize environment, gazebo world and OMA, ODT and OHT data.

Requirements

• Ubuntu 20.04
• ROS Noetic
• python3
• python3-pip

requirements.txt:

• PyQt5
• pyqt5-tools
• reelay
• PyYAML
• websocket-client
• rospy-message-converter
• rospkg
• netifaces
• nodeeditor
• psycopg2
• pyqtgraph

Installation

$ git clone https://github.com/inomuh/valu3s-ifarlab-mam.git

$ sudo apt install python3-pip

$ pip3 install -r requirements.txt

How to Start

You have to add your master ip to host list.

$ sudo nano /etc/hosts

Add ROS_MASTER_IP and ROS MASTER NAME to the hosts file.

example:

192.168.3.4 otapc

$ export ROS_MASTER_URI=http://<ROS_MASTER_IP>:11311

You should build adservice ros package in your workspace. If you don't have any workspace create catkin_ws and src folders.

$ mkdir -p catkin_ws/src

Cut and paste adservice folder in to src folder than build catkin_ws workspace.

$ cd ~/catkin_ws && catkin_make

You should source ros and your workspace from your bashrc file.

$ echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

After these steps you can run MAM at your new terminal.

$ python3 <dir_to_marver_advance_monitoring>/marver_advance_monitoring.py

Published Topics:

• mam_chkbx (std_msgs/String)

Checkbox status on user interface

Subscribed Topics:

• env_cam (sensor_msgs/Image)

Environment camera topic

• outside_camera1/image_raw (sensor_msgs/Image)

Gazebo environment camera topic

• outside_camera2/image_raw (sensor_msgs/Image)

Gazebo environment camera topic

• outside_camera3/image_raw (sensor_msgs/Image)

Gazebo environment camera topic

• odt_json (std_msgs/String)

Data of ODT

• mon_odt/monitor_verdict (std_msgs/String)

ODT Runtime verification

• mam_oma (std_msgs/String)

Data of OMA

• mon_oma/monitor_verdict (std_msgs/String)

OMA Runtime verification

• task_status (std_msgs/String)

Data of system task status

• adrv (adservice/adrv)

Data of Adrv

• mon_adrv/monitor_verdict (std_msgs/String)

Adrv Runtime verification

• oht (std_msgs/Float32)

Closest distance of human joint to robot joint

• mon_oht/monitor_verdict

OHT Runtime verification

The Contributors

• Didem Özüpek Taş

License

See LICENSE-APACHE and LICENSE-MIT for details.