PyRIDE Documentation

PyRIDE, Python based Robot Interactive Development Environment, is a software development framework for rapid robot behaviour programming in Python scripting language. It is also an integration framework for bring disparate robot functional modules together. This documentation gives a detailed description of application programming interface of PyRIDE on PR2 robot.

Compile from source on PR2

Prerequisites

PyRIDE on ROS/PR2 uses the standard ROS catkin build system. It requires a full PR2 Hydro installation on a Ubuntu linux system. In particular, make sure you have the following packages installed on your system:

• ros-hydro-moveit-resources
• ros-hydro-sound-play
• libccrtp-dev

To compile PyRIDE on PR2, do:

1. Get source code: git clone https://github.com/uts-magic-lab/pyride_pr2.git under an existing catkin_workspace src directory.
2. Compile: catkin_make pyride_pr2.

Running PyRIDE

On PR2/ROS:

1. Log into a valid user account on PR2 with PyRIDE stack installed.
2. Make sure robot base system is running, i.e. robot start.
3. Source appropriate catkin environment.
4. roslaunch pyride_pr2 pyride.launch.

Code API

PyPR2