driving

Driving

Roboy raveskill to order ice cream via a Telegram bot.

Setup

Raveskills

Follow the steps described in the raveskills README.md to set up and configure the environment. You don't need to setup Scientio, however, you should create a keys.yml as described since this is needed for the Telegram bot.

Telegram bot

On Telegram talk to BotFather as described in the Telegram documentation to create your bot. The token you receive during the configuration is the one that needs to be inserted in the keys.yml.

Usage

Starting the docker container:

We assume that you have already built a Docker container as described in the raveskills README.md. Now you can execute it using the commands:

cd /path/to/raveskills
docker-compose up --detach raveskills
docker exec -ti raveskills bash -l

Depending on how your container is configured, you might need to also run the following command inside the container:

source ~/melodic_ws/devel/setup.sh

Running the driving module using docker:

Create a keys.yml under /path/to/raveskills/config as described in the raveskills README.md. Open 5 tabs in the raveskills-container as described above. In the first tab start roscore with

roscore

In the second tab execute

cd /raveskills/modules/luigi/ && python3 ad_server_mockup.py

In the third tab run

cd /raveskills/modules/luigi/ && python3 ws_server.py

In the fourth

cd /raveskills/modules/luigi/ && python3 ws_communication.py

And finally in the fifth tab: 

cd /raveskills/modules/luigi/ && python3 -m ravestate ravestate_conio -f /raveskills/config/roboy_telegram_bot_master.yml -f /raveskills/config/keys.yml

Now you can talk to the Driving dialogue either on telegram or the command line directly. The location will be send to autonomous driving. If the luigi dialogue is run in parallel, the mock-up arrival signal by the autonomous driving dialogue can be send and received as described in the Luigi README.md.