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

This consists of three (or four) steps:

1. Start redis

2. Start the device services on the robot

3. (Optional) Start a service, such as face detection

4. Run your program

Starting Redis and SIC on your laptop

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This can be done in two ways: By starting redis yourself or using docker. We recommend using docker as this makes starting other services easier later on.

In a terminal, start redis using

redis-server

Docker alternative

Start it on your laptop in the root framework sic framework folder (for MacOS and Windows: make sure Docker Desktop is running).

cd your/path/to/sicframework
docker compose up redis

This should start print Container sic-redis-1 Created which means Redis is up and running.

No Docker

In a terminal, start redis using

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Optionally, you can now start other services on your laptop, such as text to speech, either using docker

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Or by starting the service in a terminal. Note that when starting a service or running a file, the appropriate environment variables must be set. TODO: Windows env variables? For example:

cd sicframework/sic_framework/services/text2speech
export DB_PASS=changemeplease
export DB_IP=localhost
python3 text2speech_service.py

Starting SIC on the Robot (NAOv6)

In a new terminal, start the framework on the robot using

cd sicframework/sic_framework/scripts/
sh ./start_robotnao.sh -h ROBOT_IP -n ROBOT_DEVICE_ID -b
REDIS_IP

# Windows:
.\start_robotnao.ps1 ROBOT_IP ROBOT_DEVICE_ID REDIS_IP

Where:

• ROBOT_IP is the adress of the Nao or Pepper robotROBOT_DEVICE_ID can be any name as it is the device_id with which the robot will identify itself in the framework.

• REDIS_IP Your laptop IP address (use ipconfig on windows or hostname -I on linux or ipconfig getifaddr en0 on mac) the ip adress of your laptop/desktop where redis is running

Example command:

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

# Windows
.\start_robotnao.ps1 192.168.0.116 nao1 192.168.0.181

This should show an output like

nao@nao:~/sicframework/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

ssh nao@ROBOT_IP

cd framework/sic_framework/devices

export DB_IP=REDIS_IP # replace with the ip of your computer

python nao.py

Running a demo

To start a demo, for example to show pepper’s camera output on your screen, simply execute a python script with a SICApplication. Some demos are available in the docker/sic/sic_framework/tests folder.

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Note: This demo requires you to have the OpenCV and tqdm modules and libjpeg-turbo installed, as well as have the framework installed on a NAO robot (see above). On Windows, moreover, the libjpeg dependency may not be automatically be found, and you may need to set the path to libturbojpeg.dll manually.

cd dockerframework/sic/sic_framework/tests

export DB_IP=localhost  # set on Windows
export DB_PASS=changemeplease  # set on Windows

python3 python demo_camera.py # on Windows simply use python

Pycharm

The environment variables (the export command in the code above) need to be set. If you are using PyCharm to run the script, set these in the Run/Debug configuration in the Environment variables menu. Copy these two lines into the menu:

DB_IP=localhost DB_PASS=changemeplease

If all went well, a display should pop up showing you the camera output of your robot!

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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.ENV VARIABLES

from sic_framework import SICApplication
from sic_framework.devices.common_naoqi.naoqi_speakers import NaoqiTextToSpeechAction, NaoqiTextToSpeechRequest


class DemoTextToSpeech(SICApplication):
    def run(self):
        nao3_action = self.connect(NaoqiTextToSpeechAction, device_id='nao1')
        nao3_action.request(NaoqiTextToSpeechRequest("Hello world!"))


if __name__ == '__main__':
    test_app = DemoTextToSpeech()
    test_app.run()

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