Assistive Grasping UI

The Assistive Grasping UI that is needed for running the medical campus Mico experiments.

Install

1. Install node and npm, then run npm install
2. Install bower with npm install -g bower, then run bower install
3. Install ROS (http://wiki.ros.org/ROS/Installation)
4. Install Rosbridge (http://wiki.ros.org/rosbridge_suite/Tutorials/RunningRosbridge)

Run

1. Start ROS by opening a terminal window and running roscore
2. Start Rosbridge by opening another terminal window and running roslaunch rosbridge_server rosbridge_websocket.launch
3. In yet another terminal window, navigate to the project root and run node scripts/assistiveGraspingUI.js

Docs

The entire UI can be populated and controlled over ROS, as described below:

Populating Commands Menu, Environments Menu, and Inputs Menu

To initially load the data for these menus, ensure the following services are running:

/current_commands
/current_environments
/current_inputs

After the menus are initially loaded, you can broadcast any changes to the menus respectively by sending messages over the following topics:

/valid_commands
/valid_environments
/valid_inputs

Toggling Inputs and Environments

When a user changes the status of an input or environment by clicking a toggle or radio button, a message will be sent to the respective services:

/set_environment_service
/set_input_service

If the service responds with result=true, the input or environment will change to the desired status, but if false, the status will not change.

Controlling Commands Menu

To simulate clicking a command in the Commands Menu, send a message over the topic /valid_commands and set the parent variable in the message to the ID of the command to be clicked.

To simulate highlighting a command, send a message over the topic /currently_selected_command and set the string in the message to the ID of the command to be highlighted.

UI State

If at any time you would like to trigger a loading icon and disable user interaction, publish to the topic /crui_bot_status a string that is either loading to trigger the loading state or ready to end it.