Behavior tree for running the demo with the action recognition ergocub-perception
Requisite: you need to have already installed YARP.
Note: set -DCMAKE_INSTALL_PREFIX=/path/to/install to your designed install path.
On the robot it is $ROBOTOLOGY_SUPERBUILD_INSTALL_DIR.
Install the rpc-interfaces for the comunication between YARP modules and the BT:
git clone https://github.com/hsp-iit/ergocub-rpc-interfaces && cd ergocub-rpc-interfaces/ecub_perception/cpp_library && mkdir build &&\
cd build && cmake -DCMAKE_INSTALL_PREFIX=/path/to/install .. && sudo make install -j4 && cd &&\
cd ergocub-rpc-interfaces/ecub_gaze_controller/cpp_library && mkdir build &&\
cd build && cmake -DCMAKE_INSTALL_PREFIX=/path/to/install .. && sudo make install -j4
Install the BehaviorTree.CPP dep to the designed commit (we don´t support the BTv4)
git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git && cd BehaviorTree.CPP && git checkout 61c55ed &&\
mkdir build && cd build && cmake -DCMAKE_INSTALL_PREFIX=/path/to/install .. && sudo make install -j8
Then compile this repo:
git clone https://github.com/hsp-iit/ergocub-behavior && cd ergocub-behavior && mkdir build && cd build && cmake .. && make -j4
- Run the needed modules: ergocub-perception, ergocub-gaze-controller, ergocub-bimanual.
- Execute the binary in
/ergocub-behavior/build/bin/run_bt.