tms_ur_gaze

0. Prerequisite

• JDK
• Android Studio
• Android SDK (API 10, API 13, API 17)

This package is composite of two contents, rosjava-based client and roscpp-based server.

1. Preparation to use rosjava apps

Note: Generated .apk files are available at /ros_tms/tms_ur/tms_ur_gaze/tms_ur_gaze/tms_ur_gaze_client/build/outputs/apk

tms_ur_gaze/tms_ur_gaze is a rosjava project having tms_ur_gaze_client subproject for android apps. Even if you run catkin_make at the workspace, this android stack never calls out to gradle because of no CMakeLists.txt and package.xml. Instead, you can build these in IDE without rosjava installation.

1.1. Import the project to Android Studio

Open Andtoid Studio and import the project; ros_tms/tms_ur/tms_ur_gaze/tms_ur_gaze

$ studio.sh

1.2. Build the project

Click the button, Build > Make Project (Ctrl + F9). The bulid script connects this project to github repository, so that the building must succeeds just as it is, irrespective of rosjava installation.

1.3. Connect Android devices to a PC

Connect your devices to PC, and make sure the PC recognizes it as a Android devices.

1.4. Install the app

Click the button, Run 'app' (Shift + F10). Select the device and click 'ok'.

2. Usage

Note: At the setout, rosrun the nodes; request_generator and object_selector, then in the android apps connect to the master. Or cannot start apps with connection to server.

2.1. External nodes

Make sure that tms_db_reader and the rp_arrow service are active.

2.2 tms_ur_gaze_server nodes

$ rosrun tms_ur_gaze_server request_generator

$ rosrun tms_ur_gaze_server object_selector

2.3. tms_ur_gaze_client apps

Type the master URI on the master chooser. http://192.168.4.170:11311/
If you meet unexpected errors when starting, make sure to run request_generator node and exist the appropriate ros server.

Touch the button, 'start button', to start speech recording.

2.4. Expected results

On the choreonoid, green-arrow appears above the object that you gaze and indicate by voice like "chips".

3. Supported words

Been prepared numerable japanese words just for a simple demo.

	chipstar	tea	soysauce	bottle	robot
Words	お菓子，チップスター，ポテトチップス，チップス	ペットボトル，お茶	醤油，しょうゆ	ボトル	ロボット