Overview

This is a project for controling all of the subsystems needed to play the block game in user studies as well as for displaying the current game state.

The code for this project is in: game/control_panel and is implemented in dart/flutter. It is soon to be deprecated adn replaced by game/control_server and game/ui/block_game

Pages

• Home Page

• Control Page

• User Study Page

Home Page

This page is used to connect to the server by choosing the appropriate computer name and port number so that users may play on any computer.

Control Page

This is the page where all the subsystems for the block game can be initialized and the game is started.

User Study Page

This is the page where the acutal game can be played in sim mode as well as where the current game state is displayed during physical games.

Controls

• Vision Subsystem
• Faces
• Mic
• Utils
• Manipulation
• Block Game demo

Topics Subscribed To:

GameTopic

• name: 'verified_game_state',
• type: '/common_msgs/GameState',

VerifiedSpeechTopic

• name: 'verified_speech',
• type: '/common_msgs/ChatMessage',

ScoreTopic

• name: 'round_score',
• type: '/common_msgs/Score',

RunningScoreTopic

• name: 'running_score',
• type: 'common_msgs/Score',

commandTopic

• name: 'commands',
• type: 'common_msgs/Command',

statusTopic

• name: 'status',
• type: 'common_msgs/Status',

gameTurnTopic

• name: 'game_turn',
• type: 'common_msgs/GameTurn',

playerMoveTopic

• name: 'player_move',
• type: 'common_msgs/PlayerMove',

currentRoundTopic

• name: 'current_round',
• type: 'common_msgs/CurrentRound',

faceTopic

• name: 'robot/face_compressed',
• type: 'sensor_msgs/CompressedImage',

lookAtTopic

• name: 'eyes/method',
• type: 'common_msgs/LookAt',

gazeAtTopic

• name: 'gaze',
• type: 'common_msgs/GazeAt',

chatStatusTopic

• name: 'chat/status',
• type: 'common_msgs/ChatStatus',

attentionTopic

• name: 'attention',
• type: 'common_msgs/Attention',

Services

_moveAwayClient

• name: 'arm/move/away'
• type: 'common_msgs/EmptyCommand'

_moveHomeClient

• name: 'arm/move/home'
• type: 'common_msgs/EmptyCommand'

_openGripperClient

• name: 'gripper/open'
• type: 'common_msgs/EmptyCommand'

_closeGripperClient

• name: 'gripper/close'
• type: 'common_msgs/EmptyCommand'

To run from sawyer_ws:

• ./start_control_panel.sh

To run for user study:

• ./start_user_study.sh