Misc. To Be Sorted/Fixed (Old “Usage”)¶

Running HARMONI within the container¶

Run the following bash script:
```
run_demo.sh
```
The run_demo script contains different commands to start with HARMONI. To begin working with ROS, we started with roscore. The docker containers have been networked so we only need to invoke one core in one of the containers.
Then we startup the HARMONI modules (rlharmoniservices, rlhardwareservices), and we run the interaction demo with rldemo.
Open the following links in the browser:
- http://172.18.3.4:8081 (face of the robot)
- http://172.18.3.4:8082 (web interface for replying to the robot)
If it does not display anything, please refresh the page. If it successfully works, a face will be display in the screen in http://172.18.3.4:8081, and a green screen will display in http://172.18.3.4:8082.
Reorganize the window in order to see face, web page, and the terminals

You should listen to the robot greeting you (you will NOT see the lip-sync in the face browser in the demo). You can reply it typing your answer in http://172.18.3.4:8082. When you type your name, the robot will reply you back. You can start a back and forth dialogue.

If you cannot listen to the audio, please check again in the container the /root/.asoundrc file and edit it according to your sound card (see Step 1 of Run).

Setting Up the Configuration¶

Before running the whole interaction, you need to setup the configuration.yaml file in the harmoni_decision package. It contains the list of the packages that you want to run and the corrispondent id. For example:

harmoni:
   tts: ["default"]
hardware:
   microphone: ["default"]

It means that the tts harmoni service will use the _default _configuration which is set in configuration.yaml of each single package (e.g., harmoni_tss/config/configuration.yaml). If you want to add a new configuration, you have to edit both the id of the harmoni_decision package and the configuration file of the service package. For example:

In the harmoni_decision/config/configuration.yaml:

harmoni:
   tts: ["ita"]
hardware:
   microphone: ["default"]

In the harmoni_tts/config/configuration.yaml:

default_param: 
    region_name: "us-west-2"
    language: "en-US"
    outdir: "/root/harmoni_catkin_ws/src/HARMONI/harmoni_actuators/harmoni_tts/temp_data"
    wav_header_length: 24
    voice: "Ivy"
ita_param:
    region_name: "eu-west-2"
    language: "it-IT"
    outdir: "/root/harmoni_catkin_ws/src/HARMONI/harmoni_actuators/harmoni_tts/temp_data"
    wav_header_length: 24
    voice: "Giovanna"

The default harmoni_decision/config/configuration.yaml file is set to run the “multiple-choice” interaction. You can keep the configuration if you want to run it for testing. However, remember to set the configuration parameters of the services according to your platform hardwares or external service.

Running an Interaction¶

Now everything is setup for testing. Once all the packages have been started up, you can run the interaction by running in the harmoni_core. If you want to run the “multiple-choice” interaction, run:

rlmultiplechoice
#alias rlmultiplechoice="roslaunch harmoni_decision harmoni_decision.launch pattern_name:='multiple-choice'"

Run a behavior pattern¶

If you want to run a behavior pattern and test it, in harmoni_core run:

roslaunch harmoni_pattern sequential_pattern.launch pattern_name:="$pattern_to_test"

For example, if you want to test the multiple_choice pattern run:

roslaunch harmoni_pattern sequential_pattern.launch pattern_name:="multiple-choice"