The AMIGO console

The Amigo-console, started with

amigo-console

is intended to provide high-level control to all of Amigo's parts through an object oriented interface written in Python Some shortcuts are provided to speed up some common commands. If you have some frequently needed command, feel free to add your shortcut.

The console uses the same interface to Amigo as the high-level executives for RoboCup-challenges use.

Shortcuts

Shortcuts are functions that wrap a method call to one of Amigo's parts. Because the amigo-console is wrapped in IPython, we can use some niceties from that. One of such niceties is that you can type

speak "Hello"

instead of the more verbose

speak("Hello")

* head_reset
* head_down
* look_at <worldmodel ID> 
* look_at_point <x,y,z>  - Look to a point, relative to the /base_link-frame
* right_close 
* left_close 
* right_open 
* left_open 
* speak <sentence> 
* praat <sentence> #speak in Dutch
* go <x,y,phi>  # and optionally specify a frame="/base_link" (default = "/map")

Parts and their methods

amigo consists of several software-parts, each represented by some Service and/or ActionClients. These can be accessed by typing

amigo.<part>

and each parts has several methods. Parts and methods thereof can be accessed via tab-completion as well. If you have questions on how to call a method, type the name of the method with a '?' at the end:

amigo.base.send_goal?

Typing ?? at the end gives more detailed info. As mentioned earlier, you may optionally omit the () when calling methods and functions, IPython takes care of that.

• base.
  • send/cancel_goal()
  • location
  • go()
  • clear_costmap()
• left/rightArm.
  • send/cancel_goal()
  • send_joint_goal()
  • reset_arms()
  • check_gripper_content()
• head.
  • send/cancel_goal
  • look_down
  • reset_position()
• perception.
  • toggle_recognition()
  • learn_person()
  • cancel_learn_persons()
• worldmodel.
  • search_target()
  • get_world_data
  • reset()
• speech.
  • speak()
• spindle.
  • send_goal()
• ears.
  • start/stop_listening()
  • heard()
  • last_heard_words()
  • last_heard()
  • forget()
• reasoner.
  • simple_query()
• lights.
  • on/off()
  • set_color()
• ebutton.
  • read_ebutton()