A ROS package that demonstrates something resembling a POMDP.
- Author: Josh Villbrandt josh@javconcepts.com, Divya Sharma divyasha@usc.edu, Prithvi Balaram balaram@usc.edu
- Date: Spring 2011
- Class: USC CS545 (http://robotics.usc.edu/~aatrash/cs545/)
This package enables a robot to play a classic game of Hide and Seek. During the seeking portion of the game, the robot uses the POMDP implemented in this package to guide itself through a space in search of a person.
See final report PDF.
# install, setup ROS
sudo apt-get install ros-electric-pr2-desktop
# add the following lines to your ~/.bashrc
source /opt/ros/electric/setup.bash
export ROS_PACKAGE_PATH=~/ros:/opt/ros/electric/stacks:$ROS_PACKAGE_PATH
export ROBOT=sim
# checkout, make code
cd ~/ros
svn co http://svn.javconcepts.com/cs545/trunk/hide_n_seek
rosmake hide_n_seek
# to edit code
roscd hide_n_seek
make eclipse-project
# for manual PR2 control
roslaunch pr2_teleop teleop_keyboard.launch
# terminal 1
roscore
# terminal 2
roslaunch hide_n_seek custom_pr2_sim.launch
# terminal 3
rosrun hide_n_seek fake_people_finder
# terminal 4
rosrun hide_n_seek planner
4/28/2012 - turned in for final project