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TeamTalk software should be considered to be in an alpha state. It is under development.

Last modified 2007/06/1.


Recent Changes

Reflects changes since 2007/4/30.

  • Installed new USARSim Server box 25 April 2007. Ran into problems booting, informed facilities, 25 April 2007. Fixed, 27 April, 2007. Got server installed and tested, 28 April, 2007.
  • need to put my moast changes under revision control, 18 April 2007. now that I have developer access this should be easier, 24 April, 2007. Done, 11:53, 9 May 2007 (EDT).
  • Added navigation links to user's guide, virtual system, and development pages on the wiki
  • maps with victims don't work under the cvs version of usarsim. new maps will apparently be release in "the next few days", 11 April 2007 -- new maps released this morning. installed, 18 April 2007. The big map still doesn't work since there's some cpu overload, sent email about it, 18 April 2007. If I don't get a response soon I'll try to remove some victims. Steve wrote back that the victims probably are to blame, and that I should just delete all the victims in the parking lot. He said that they would remove them in the next map release in any case, 19 April 2007. I couldn't open the map in UnrealEd. I think that they didn't include all of the necessary source files for it. Posted to the forum about it, 30 April 2007. A new version of the map base files was released. Using that, I was able to edit compWorldDay2_250. I removed all of the victims outside of the building. Now that map runs with 2 robots, using about 2/3 of a P4 3.0 GHz, 16:10, 9 May 2007 (EDT).
  • Need to put USARSim changes under source control or otherwise backed up, 25 April 2007. Put everything in teamtalk/usarsim, 12:59, 10 May 2007 (EDT).

Known Bugs

  • we're still seeing path planning errors, 16:10, 9 May 2007 (EDT).
  • robot should report "stuck" state, 30 March 2007.
  • There's a noticeable delay in reporting task completion, 25 April 2007.



  • complete binary installation instructions, 16:01, 23 May 2007 (EDT).
  • investigate java issue in rcslib compilation, 15:59, 23 May 2007 (EDT).
  • need to abandon with a reason, 12 April 2007 + abandonments are reported in the wrong order, 18 April 2007.
  • what are you doing, 12 April 2007?
  • explain if paths include "significant" deviations from instructions, 12 April 2007.
  • human-human channel, 12 April 2007.
  • go down the corridor, etc, 5 April 2007.
  • report paths on map, 29 March 2007.
  • need to be able to run moast processes on different hosts, this requires a refactoring of the moastNML server, 29 March 2007.
  • Cleanup of grammar, 23 April 2007.
    • I'll comment out the goodbye node, I think this will be readdressed when we look into human-human communication.
    • No and Yes are needed by the generic agents. I have them in the task grammar because they were the only two things that I needed from the generic grammar, and I didn't want to add the entire generic grammar because the language model is built from the grammar, etc. I think we really need a more flexible way to build the language models, so that we don't have to hack around with the grammars.
    • HumanSearchCommand, x1, and y1 are shown as not in the grammar because they are generated as already parsed utterances by GUI pen gestures, and so there was no need to have them in the grammar. I think that in general we should strive to have everything expressible in all available modalities, even when it might be much more cumbersome in one than the other. I'll add that to the grammar so that it can be spoken as well.
    • I'm not sure about RelativeDirection, CardinalDirection, and Direction. I though they were already there. I'll look into it.
    • Location is not in the grammar because it's only said by the robots, and is sent directly to Helios as a parsed utterance. I think we should in general strive to make things that are expressed by robots to also be expressible by humans. There's that whole entrainment issue, and also the humans-and-robots-are-teammates issue. So I guess I'll make it possible for people to say where they are.
  • Olympus in sourceforge, 28 April, 2007. Confirmed that sourceforge supports subversion, 30 April 2007.
  • Need to upgrade wiki software to Spring 2007 release, 15:14, 9 May 2007 (EDT).
  • Shrink and upload redux, 23:21, 9 May 2007 (EDT).


  • It would be nice if we could record demos of the UI without having to run a third party program like Camtasia Studio, 21 April, 2007. Hongbing at U of Hawaii has done something similar, using JMF and Quicktime for Java. He gave me access to his repository so that I could see how he did it, 24 April 2007.
  • tips when hitting wall. need to have a way to reset the robot, without resetting the whole system. Haven't seen this one in a while. -- I actually found a solution for this, the USARSim FLIP command, 17 April 2007.
  • Cellphone GUI. I looked into the possibility of running a j2me galaxy application. It looks like it would require a lot of porting, or an adapter. I'm not sure that this is the direction that we want to project to evolve into anyway, 14:42, 9 May 2007 (EDT).


Two external programs, Carnegie Mellon's Sphinx2 and the Galaxy Communicator are bundled pre-compiled in It is expected that modifications to these sources will be rare events. It is recommended that they be left alone; however, if one does wish to participate in thier developement, instructions for installation follow:

  1. DARPA's Galaxy Communicator. Refer to for more information about the distributions.
    1. Download
    2. Extract. Note: Winzip normally handles gzipped tar files, but balked on this one for some reason. I used cygwin's tar to untar. I think there's an issue with Winzip's smart CR/LF.
    3. Download the patch:
    4. Extract. Overwrite everything.
    5. Compile. Refer to for more information.
      1. Open GC.dsw. Compile libGalaxy and HUB. Note: if you use MSDE 2005 you'll have to convert all of the projects. You'll also get a lot of compiler warnings, which you can safely ignore.
      2. Also open contrib\MITRE\utilities\src\libMITRE_galaxy.dsw. Compile.
    6. Move the Galaxy root to TeamTalk\ExternalLibraries\Galaxy\.
  2. Carnegie Mellon's Sphinx2.
    1. Download from See for more information on distributions.
    2. Extract.
    3. Open sphinx2.dsw. Compile libsphinx2, libsphinx2ad, and libsphinx2ad.
    4. Move the sphinx root to TeamTalk\ExternalLibraries\sphinx2\.
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