RoboCup@Home Command Generator

Set of sentence generators for the RoboCup @Home tasks. The latest updates follows following the tasks, rules, and specifications of the Rulebook for Sydney 2019.

To learn more about the rules, visit the RoboCup@Home website and the Rulebook repository.

The solution includes generators for the following tasks:

• General Purpose Service Robot (GPSR)
• Enhanced General Purpose Service Robot (EGPSR)

Minimum System Requirements

You need either the Microsoft .NET framework or Mono versions 4.5 or above. Although the code itself is compatible with the specification of the .NET Framework 2.0, the included solution files target a later build for compatibility.

Windows

• Using Miscrosoft .NET
  • Download and install .NET Framework 4.5 or later
  • Download and install Visual Studio Express
• Using Mono
  • Download and install Mono release 4.5 or later ( 32bit 64bit )
  • Download and install Mono Develop

Linux

• Ubuntu: check https://learn.microsoft.com/en-us/dotnet/core/install/linux-ubuntu#supported-distributions

• Other distros: check https://learn.microsoft.com/en-us/dotnet/core/install/linux?WT.mc_id=dotnet-35129-website

Building

First clone the repository (you will need git installed)

git clone http://github.com/kyordhel/GPSRCmdGen.git

The building procedure depends on operating system. If you want to compile from source on:

Windows

First, download and unzip the solution from https://github.com/kyordhel/GPSRCmdGen/archive/master.zip. Once this is done, open the solution file and select run from the build menu.

Linux

First, clone the repository (you will need git installed)

git clone http://github.com/kyordhel/GPSRCmdGen.git

Then, all you need is to run cmake

cd GPSRCmdGen
make

Testing

GPSR

To build and test GPSR command generator use

make gpsr

or, to simply run it execute

mono bin/Release/GPSRCmdGen.exe

EGPSR

To build and test EEGPSR command generator use

make egpsr

or, to simply run it execute

mono bin/Release/EGPSRCmdGen.exe

Training

Both GPSR and EEGPSR generators support building a large set of randomly generated sentences by means of the --bulk [N] flag where the optional parameter N is an integer number between 10 and 10000 with default value of 100. Simply run either

mono bin/Release/GPSRCmdGen.exe --bulk 1000

or

mono bin/Release/EEGPSRCmdGen.exe --bulk 1000

Generated sentences will be stored in a text files in a subdirectory named after the grammar used for command generation. QR codes are also generated.

Reuse in other competitions and projects

Thanks to the MIT license, you can adapt this project to your own needs (acknowledgments are always appreciated). Feel free to use this generator.

The generators use free context grammars that contain wild-cards which are replaced by random values from xml configuration files. The grammar's format specification can be found here and here

Contributing

Contributions and questions are always welcome