Merge pull request #1 from uchile-robotics-forks/master

doc

.gitignore

@@ -1,3 +1,4 @@
+install/mongo-cxx-driver/
 
 # Created by https://www.gitignore.io/api/c++,ros,python,jetbrains
 

README.md

@@ -1,31 +1,31 @@
 # LTM - Long Term Memory for Robots
 
-Long Term Memory for robots using ROS. Thesis project.
+Long Term Memory for robots using ROS.
 
 ## Overview
 
-The episodic LTM (EpLTM) is a very relevant challenge for service robotics, it allows us to enhance human-robot interaction (HRI), robot understanding about the environment, and the way in which it can handle tasks. This repository holds the ROS implementation code for the LTM project developed by Matías Pavez in his final C.Sc and E.E Thesis. See also [the thesis repository](https://github.com/mpavezb/memoria).
-
+The episodic LTM (EpLTM) is a very relevant challenge for service robotics, it allows us to enhance human-robot interaction (HRI), robot understanding about the environment, and the way in which it can handle tasks. This repository holds the ROS implementation code for the LTM project developed by Matías Pavez in his [C.Sc and E.E Thesis](https://github.com/mpavezb/memoria).
 
 This projects provides a LTM implementation with Episodic, Semantic and Emotional components. Episodic information relates to *What* happened, *When* it happened, and *Where*. The *What* relates to the Semantic Memory, which can contain any kind of information, while this is defined through ROS messages. Stored episodes count with historical and emotional relevances, to give better tools for episode retrieval queries. 
 
-
 The robot location (*Where*), the Semantic Memory (*What*) and emotion information is collected through plugins defined by the user. So some plugins must be implemented following a *pluginlib* API.
 
+Some plugins are already defined on the `ltm_addons` and `ltm_samples` ROS packages. The `ltm_addons` package also provides a SMACH interface to the LTM server, which allows the collection of SMACH states as LTM episodes.
 
-Some plugins are already defined on the `ltm_addons` and `ltm_samples` ROS packages. The `ltm_addons` package also provides a SMACH interface to the LTM server, which allows the collection of SMACH states as LTM episodes.
+The project is built over ROS and MongoDB. ROS works as the robotics framework which enables the communication between robot components, while MongoDB stores all episodic and semantic information.
 
-The project is built on ROS and MongoDB. ROS works as the robotics framework which enables the communication between robot components, while MongoDB stores all episodic and semantic information.
 
+## Documentation
 
-## Related ROS packages:
+- [Installation](doc/installation.md)
+- [LTM for the Bender robot](https://github.com/uchile-robotics/bender_ltm)
+- [Thesis](https://github.com/mpavezb/memoria) (in spanish)
+- [Future Work](doc/proposed.md)
 
-- [ltm_addons](https://github.com/mpavezb/ltm_addons)
-- [ltm_samples](https://github.com/mpavezb/ltm_samples)
 
+## LTM Suite - ROS packages:
 
-## Documentation
-
-- [Thesis](https://github.com/mpavezb/memoria) (in spanish).
-- [Installation guide](doc/installation.md)
-- [Tutorials](doc/tutorials.md)
+- [ltm](https://github.com/mpavezb/ltm)
+- [ltm_addons](https://github.com/mpavezb/ltm_addons)
+- [ltm_samples](https://github.com/mpavezb/ltm_samples)
+- [ltm_db](https://github.com/mpavezb/ltm_db)

doc/installation.md

@@ -1,90 +1,15 @@
-# Installation Guide
+# Installation instructions
 
+The LTM system was developed under ROS kinetic on Ubuntu 16.04. The only dependencies are the following:
 
-## Prerequisites
+- Python and C++ standard lbraries.
+- MongoDB server and driver for C++.
 
-- OS: Ubuntu 16.04
-- ROS:
- - ROS kinetic
+Also, the `ltm_addons` package depends on the SMACH ROS packages.
 
-
-### Install mongodb server
-
-```bash
-sudo apt-get install mongodb-server
-```
-
-### Install C++ drivers
-
-```bash
-# get mongodb C++ drivers
-git clone -b 26compat https://github.com/mongodb/mongo-cxx-driver.git
-
-# compile it using scons
-sudo apt-get install scons
-cd mongo-cxx-driver
-sudo scons --prefix=/usr/local/ --full --use-system-boost --disable-warnings-as-errors
-```
-
-Now, you should now be able to compile the packages using catkin.
-
-
-### Install mongo python library
-
-See [the python API](https://api.mongodb.com/python/current/) for PyMongo.
-
-```bash
-sudo apt install python-pip
-python -m pip install pymongo
-```
-
-### Installation: Warehouse ROS mongo
-
-The deb install is not complete and does not provide the required plugin for mongo, so this has to be installed from source. See also the [official github repository](https://github.com/ros-planning/warehouse_ros_mongo).
+These dependencies can be installed using: 
 
 ```bash
-# get warehouse_ros_mongo repo
-git clone https://github.com/mpavezb/warehouse_ros_mongo.git
-
-# dependency for warehouse_ros_mongo
-sudo apt-get install ros-kinetic-warehouse-ros
-```
-
-
-#### Verify installation
-
-```bash
-roscd && cd ..
-
-# set up server
-catkin_make
-rosrun warehouse_ros_mongo mongo_wrapper_ros.py
-roslaunch warehouse_ros_mongo warehouse.launch --screen
-
-# run tests
-catkin_make tests
-rosrun warehouse_ros_mongo test_warehouse_ros_mongo_cpp 
-```
-
-## Useful Commands
-
-```bash
-# look for process using a specific
-sudo lsof -i | grep <port>
-kill -9 <pid>
-
-# kill mongodb server
-kill -9 $(pidof mongod)
-```
-
-### Install LTM repository
-
-```bash
-# download
-roscd && cd ../src
-git clone https://github.com/mpavezb/ltm.git
-
-# compile
-roscd && cd ..
-catkin_make
+roscd ltm
+bash install/install.bash
 ```

doc/proposed.md

@@ -1,30 +1,33 @@
+# Proposed work for future releases
 
-# Lista de trabajo propuesto a futuro.
 
+## Documentation
 
-### Representación episódica
+- Inline documentation for methods.
+- ROS API documentation.
+- Pluginlib documentation.
 
-- Where: Crear submensaje para Where.msg, que almacene: location, area, time
-- Where: Soportar más de 1 lugar semántico y coordenado para hijos.
-- Where: agregar soporte a más de un frame/mapa
-- Where: Crear submensaje para Where.msg, que represente ubicación coordenada múltiple
-- Optimización: condición de que hijos son ordenados por tiempo de inicio
-- Asignación creciente de IDS para episodios, streams y entidades.
 
-### Funcionalidad
+## Usability
 
-- Modificación de la estructura de mensajes semánticos
-- como manejar contextos, pues se puede requerir su información, incluso durante el mismo episodio!!.. deben ser almacenados una vez inscritos y ser cerrados manualmente.
+- Clean up terminology for methods and API.
+- Manage Where.msg information as an entity. The location message should be defined by the user, and kept on its own collection.
 
 
-### API ROS
+## Functionality
 
-- Quitar servicios incompletos.. 
+- Database migration for updated entities (avoid losing old DB entries).
+- Automatical updates for the historical and generical relevances.
+- Server with warnings when resource usage reaches the available limits.
 
 
-### API plugins
+## Maintainability
 
-### Herramientas
+- Migrate the `ltm_db` and `ltm` mongo interface from the legacy C++ driver to the latest version (v3.3 at the moment).
 
-- Server con warning si mensaje a almacenar pesa más del límite!.
-- LTM server con warning en texto y notificación inotify cuando quede poco espacio de disco (menor a X%) (o se ha ocupado más de X GB) debido al server... configurable por usuario...
+
+## Scalability and Efficiency
+
+- Disk usage mitigation.
+- Streams degradation.
+- MongoDB queries analysis.

install/install.bash

@@ -0,0 +1,44 @@
+#!/bin/bash
+#
+# Run me like this
+# > bash install.sh
+#
+
+INSTALL_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+
+# Prerequisites
+# -------------------------------------------
+
+# - MongoDB server
+# - scons compiler tool
+# - python pip
+sudo apt-get install mongodb-server scons python-pip
+
+
+# MongoDB C++ drivers
+# -------------------------------------------
+
+cd ${INSTALL_DIR}
+
+# official driver (legacy version!)
+if [[ ! -d mongo-cxx-driver ]]; then
+ git clone https://github.com/mongodb/mongo-cxx-driver.git
+fi
+cd mongo-cxx-driver
+git checkout 26compat
+
+# compile it using scons
+# sudo scons --prefix=/usr/local/ --full --use-system-boost --disable-warnings-as-errors
+
+
+# MongoDB Python driver
+# -------------------------------------------
+python -m pip install pymongo
+
+
+# ltm_addons
+# -------------------------------------------
+sudo apt-get install ros-kinetic-smach ros-kinetic-smach-viewer ros-kinetic-video-stream-opencv ros-kinetic-image-view
+pip install faker
+