A domain-specific language for live-coding robot motion.
Heavily inspired by / uses code from: Dance, TidalCycles, and roshask.
- Stack (for managing Haskell dependencies and installation). Click here for installation instructions.
- ROS (Robot Operating System). Click here for install instructions. We recommend installing Kinetic version or Indigo.
- TurtleSim (will come with a full desktop ROS installation) or Gazebo (click here for install instructions)
- some kind of shell (tested with zsh and bash)
- On a Linux computer (ideally Ubuntu distro), install dependencies above.
In a command line:
- Clone repository (
git clone https://github.com/alexandroid000/improv.git) - Install everything with
stack build(will probably take a while)
The master branch uses TurtleSim currently. To use Gazebo, run git checkout gazebo-integration.
Run the script improv.sh in a terminal. If all goes well, this will launch
a ROS server, the simulator, and start monitoring the user input file.
If all does not go well, please check that you've installed all dependencies and submit a bug report!
Edit the file user_instructions.txt in whatever text editor you prefer. When
this file is saved, the monitoring script will detect a change and interpret the
code, creating a ROS node which publishes commands to the simulator. You should
see the effects in the simulator immediately.
Now you are ready to follow the tutorial to learn features of the improv language!