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Starting the model based diagnosis system
Description: This tutorial describes how to setup the environment, compile the packages and run a simple example.Tutorial Level: INTERMEDIATE
Contents
Setting Up Environment
Use following command in .bashrc file
export CLASSPATH="$(rospack find tug_ist_diagnosis_repair)/java/classes/:$(rospack find tug_ist_diagnosis_repair)/java/source/pddl4j.jar"
Compilation
Open terminal and execute the following command:
rosmake tug_ist_diagnosis_board
rosmake tug_ist_diagnosis_engine
rosmake tug_ist_diagnosis_repair
rosrun tug_ist_diagnosis_engine compile_4_java.sh
rosrun tug_ist_diagnosis_repair compile_4_java.sh
Example
For simple example please use following commands in order in different terminals:
roslaunch tug_ist_diagnosis_launch aria.launch
check topic /aria_node_topic.
roslaunch tug_ist_diagnosis_launch laser.launch
roslaunch tug_ist_diagnosis_launch observers.launch
roslaunch tug_ist_diagnosis_launch diagnosis_model.launch
roslaunch tug_ist_diagnosis_launch diagnosis_engine.launch
roslaunch tug_ist_diagnosis_launch action_servers.launch
roslaunch tug_ist_diagnosis_launch diagnosis_repair.launch
Now everything should be consistent and working. To check the system functionality just apply following command in separate terminal:
rosnode kill /aria
This will kill the node,observers will publish not ok on /observations topic, diagnosis engine will publish diagnosis on /diagnosis topic. you can check it by "rostopic echo /diagnosis" command. Repair engine will execute start action server to start aria node. Again /diagnosis topic will publish new diagnosis after start of aria node automatically.
