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You can find the instructions on how to install the framework here: Install

Setup

Once installed to all devices you want to use, we can start the framework.

Starting SIC on your laptop

To enable communication between all your devices, we have to start Redis on some device. To start it on your laptop in the base sic folder.

docker compose up redis

docker compose up redis

Starting SIC on the Robot

To start the framework on the robot run (also in sic/sic_framework/scripts/ )

sh ./start_robot.sh -h ROBOT_IP -n ROBOT_DEVICE_ID -b REDIS_IP

Where:

• ROBOT_IP is the adress of the Nao or Pepper robot

• ROBOT_DEVICE_ID can be any name as it is the device_id with which the robot will identify itself in the framework.

• REDIS_IP is the IP adress of the redis database used for communication. If you started SIC in docker this is the ip adress of your own laptop.

Example command:

sh ./start_robot.sh -h 192.168.0.116 -n nao1 -b 192.168.0.181

This should show an output like

nao@nao:~/sic/sic_framework/devices$ python nao.py --robot_name nao1
Starting service manager with device id "nao1" with services:
 - NaoqiMicrophone
 - TopNaoCamera
 - BottomNaoCamera
Starting service manager with device id "nao1" with services:
 - NaoMotionReplayAction
 - NaoMotionRecorderAction
 - NaoMotionAction
 - NaoMotionStreamConsumer
 - NaoqiTextToSpeechAction
 - NaoMotionStreamProducer
 - NaoqiTabletService

API

The goal of SIC is to provide easy to use high level access to devices and services. To make a NAO robot say something, follow the startup instruction in https://socialrobotics.atlassian.net/wiki/spaces/CBSR/pages/2180415493/Install#Starting-SIC-on-the-Robot and run the following python script on your laptop.

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