alexa-turtlesim-ros

Controlling the ROS turtlesim simulator with Amazon Alexa.

First step is to have ROS on your system

• ROS download instructions

In addition to intalling ROS (any desktop-full, desktop, or ros-base will work), you will need to install rosbridge-server:

sudo apt-get install ros-<distro>-rosbridge-server Where "distro" is your downloaded ROS version

Next install npm and node.js

• npm and node.js download instructions

Check if the installation was succesfull: node --version && npm --version

Install the bespoken tools command line tool(bst):

sudo npm install bespoken-tools -g

Configure your amazon alexa skill,clone this guthub,start proxy server and install dependencies on the cloned github's location

Just follow the instructions but remember to clone this github and use the Intent Schema and Sample Utterances given in this github as well. Also remember to add a slot in the Interaction Model with the following values : forward, backward, turn left, turn right.

(If you followed the previous step you've alredy completed this step)Clone this github repository :

git clone https://github.com/ericsantii/alexa-turtlesim-ros

(If you followed the previous step you've alredy completed this step) Go into cloned folder :

cd alexa-turtlesim-ros

Install dependencies

npm install

(If you followed the previous step you've alredy completed this step)Start proxy server :

bst proxy lambda index.js

Start ros master node:

roscore

Start turtlesim

rosrun turtlesim turtlesim_node

To check the output on the topic:

rostopic echo /turtle1/cmd_vel

Start the rosbrige_server

roslaunch rosbridge_server rosbridge_websocket.launch

Now test the skill on the Amazon's Developer Portal or on your Alexa device