opencog-docker commits / c8dcd31

Changed files (220) +8832 -0

.github/dependabot.yml +7 -0

…	…	@@ -0,0 +1,7 @@
	1	version: 2
	2
	3	updates:
	4	- package-ecosystem: "github-actions"
	5	directory: "/"
	6	schedule:
	7	interval: "weekly"

.github/workflows/ci.xxx-yml-xxx +33 -0

…	…	@@ -0,0 +1,33 @@
	1	# Disabled, April 2024
	2	# Both this and publish-images.yml build the same docker containers.
	3	# We don't need to do this twice. Since that one also publishes the
	4	# containers to dockerhub, disable this script by renaming it to
	5	# `ci.xxx-yml-xxx` and hopefully that is enough to do the trick.
	6	# Keep this here, for now, "just in case". -- Linas April 2024
	7
	8	name: CI
	9
	10	on:
	11	pull_request:
	12	branches: [ "master" ]
	13	paths:
	14	- "opencog/**"
	15	- ".github/workflows/**"
	16	push:
	17	branches: [ "master" ]
	18	paths:
	19	- "opencog/**"
	20	- ".github/workflows/**"
	21	workflow_dispatch:
	22
	23	jobs:
	24	build_opencog_images:
	25	name: Build opencog images
	26	runs-on: ubuntu-22.04
	27	steps:
	28	- name: Checkout current repo
	29	uses: actions/checkout@v4
	30
	31	- name: Build all opencog images
	32	working-directory: opencog
	33	run: ./docker-build.sh -bsl

.github/workflows/publish-images.yml +152 -0

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	1	name: Publish images
	2
	3	on:
	4	pull_request:
	5	branches: [ "master" ]
	6	paths:
	7	- "opencog/**"
	8	- ".github/workflows/**"
	9	push:
	10	branches: [ "master" ]
	11	paths:
	12	- "opencog/**"
	13	- ".github/workflows/**"
	14	schedule:
	15	- cron: "37 2 * * 6" # Run 2:37 AM Saturday night. `man 5 crontab`
	16	workflow_dispatch:
	17
	18	jobs:
	19
	20	# The job is called "base-images".
	21	# The Dockerfile is located in the directory opencog/base
	22	# -- this is the "context"
	23	# The name of the docker image is opencog/opencog-deps:latest
	24	base-images:
	25	runs-on: ubuntu-24.04
	26	steps:
	27	- name: Checkout current repo
	28	uses: actions/checkout@v6
	29
	30	- name: Set up Docker Buildx
	31	uses: docker/setup-buildx-action@v3
	32
	33	- name: Login to DockerHub
	34	uses: docker/login-action@v3
	35	with:
	36	username: ${{ secrets.DOCKER_USERNAME }}
	37	password: ${{ secrets.DOCKER_ACCESS_TOKEN }}
	38
	39	- name: Build and push opencog-deps to docker hub
	40	uses: docker/build-push-action@v6
	41	with:
	42	context: opencog/base
	43	tags: ${{ secrets.DOCKER_NAMESPACE }}/opencog-deps:latest
	44	push: true
	45
	46	# Needs is the name of the job, above.
	47	atomspace:
	48	needs: base-images
	49	runs-on: ubuntu-24.04
	50	steps:
	51	- name: Checkout current repo
	52	uses: actions/checkout@v6
	53
	54	- name: Set up Docker Buildx
	55	uses: docker/setup-buildx-action@v3
	56
	57	- name: Login to DockerHub
	58	uses: docker/login-action@v3
	59	with:
	60	username: ${{ secrets.DOCKER_USERNAME }}
	61	password: ${{ secrets.DOCKER_ACCESS_TOKEN }}
	62
	63	- name: Build and push to docker hub
	64	uses: docker/build-push-action@v6
	65	with:
	66	context: opencog/${{ github.job }}
	67	tags: ${{ secrets.DOCKER_NAMESPACE }}/${{ github.job }}:latest
	68	push: true
	69
	70	- name: This is the droid you are looking for!
	71	if: always()
	72	run: |
	73	echo "### Advice to the Lovelorn :rocket:" >> $GITHUB_STEP_SUMMARY
	74	echo "If the build failed, click on the job, then click on the gear icon and then click 'View raw logs'." >> $GITHUB_STEP_SUMMARY
	75
	76	# This places a message at the top of the job page, but you have
	77	# to click through to see the message, so it seems useless...
	78	# - name: Testing! Testing! 1,2,3.
	79	# run: |
	80	# echo "::notice title=Your-name-here::check check"
	81
	82
	83	atomspace-py:
	84	needs: atomspace
	85	runs-on: ubuntu-24.04
	86	steps:
	87	- name: Checkout current repo
	88	uses: actions/checkout@v6
	89
	90	- name: Set up Docker Buildx
	91	uses: docker/setup-buildx-action@v3
	92
	93	- name: Login to DockerHub
	94	uses: docker/login-action@v3
	95	with:
	96	username: ${{ secrets.DOCKER_USERNAME }}
	97	password: ${{ secrets.DOCKER_ACCESS_TOKEN }}
	98
	99	- name: Build and push to docker hub
	100	uses: docker/build-push-action@v6
	101	with:
	102	context: opencog/${{ github.job }}
	103	tags: ${{ secrets.DOCKER_NAMESPACE }}/${{ github.job }}:latest
	104	push: true
	105
	106	learn:
	107	needs: atomspace
	108	runs-on: ubuntu-24.04
	109	steps:
	110	- name: Checkout current repo
	111	uses: actions/checkout@v6
	112
	113	- name: Set up Docker Buildx
	114	uses: docker/setup-buildx-action@v3
	115
	116	- name: Login to DockerHub
	117	uses: docker/login-action@v3
	118	with:
	119	username: ${{ secrets.DOCKER_USERNAME }}
	120	password: ${{ secrets.DOCKER_ACCESS_TOKEN }}
	121
	122	- name: Build and push to docker hub
	123	uses: docker/build-push-action@v6
	124	with:
	125	context: opencog/${{ github.job }}
	126	tags: ${{ secrets.DOCKER_NAMESPACE }}/${{ github.job }}:latest
	127	push: true
	128
	129	# TODO: Create dockerfile & publish an as-moses image.
	130	# as-moses:
	131	# needs: atomspace
	132	# runs-on: ubuntu-24.04
	133	# steps:
	134	# - name: Checkout current repo
	135	# uses: actions/checkout@v6
	136	#
	137	# - name: Set up Docker Buildx
	138	# uses: docker/setup-buildx-action@v3
	139	#
	140	# - name: Login to DockerHub
	141	# uses: docker/login-action@v3
	142	# with:
	143	# username: ${{ secrets.DOCKER_USERNAME }}
	144	# password: ${{ secrets.DOCKER_ACCESS_TOKEN }}
	145	#
	146	# - name: Build and push to docker hub
	147	# uses: docker/build-push-action@v6
	148	# with:
	149	# XXX wrong context, fixme.
	150	# context: archive/${{ github.job }}
	151	# tags: ${{ secrets.DOCKER_NAMESPACE }}/${{ github.job }}:latest
	152	# push: true

.gitignore +14 -0

…	…	@@ -0,0 +1,14 @@
	1	*.swp
	2	*~
	3	.tags
	4	tags
	5
	6	# Just to avoid the removal of the README.md in buildbot/workspace/volume/
	7	buildbot/workspace/volume/atomspace/
	8	buildbot/workspace/volume/cogutil/
	9	buildbot/workspace/volume/master/
	10	buildbot/workspace/volume/moses/
	11	buildbot/workspace/volume/opencog/
	12
	13	# For opencog/minecraft containers
	14	opencog/minecraft/data/

LICENSE +693 -0

…	…	@@ -0,0 +1,693 @@
	1	Unless indicated otherwise (a license reference in file headers, or a
	2	LICENSE file in a directory), all OpenCog source files use the AGPL
	3	with additional permissions to link OpenCog libraries with non-AGPL
	4	works; the text of the OpenCog linking excpetion is located at the end
	5	of this file.
	6
	7
	8
	9	GNU AFFERO GENERAL PUBLIC LICENSE
	10	Version 3, 19 November 2007
	11
	12	Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
	13	Everyone is permitted to copy and distribute verbatim copies
	14	of this license document, but changing it is not allowed.
	15
	16	Preamble
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	19	software and other kinds of works, specifically designed to ensure
	20	cooperation with the community in the case of network server software.
	21
	22	The licenses for most software and other practical works are designed
	23	to take away your freedom to share and change the works. By contrast,
	24	our General Public Licenses are intended to guarantee your freedom to
	25	share and change all versions of a program--to make sure it remains free
	26	software for all its users.
	27
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	29	price. Our General Public Licenses are designed to make sure that you
	30	have the freedom to distribute copies of free software (and charge for
	31	them if you wish), that you receive source code or can get it if you
	32	want it, that you can change the software or use pieces of it in new
	33	free programs, and that you know you can do these things.
	34
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	36	with two steps: (1) assert copyright on the software, and (2) offer
	37	you this License which gives you legal permission to copy, distribute
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	467	11. Patents.
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	471	work thus licensed is called the contributor's "contributor version".
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	505	covered work in a country, or your recipient's use of the covered work
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	530	or that patent license was granted, prior to 28 March 2007.
	531
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	534	otherwise be available to you under applicable patent law.
	535
	536	12. No Surrender of Others' Freedom.
	537
	538	If conditions are imposed on you (whether by court order, agreement or
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	549
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	569	14. Revised Versions of this License.
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	595	15. Disclaimer of Warranty.
	596
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	606	16. Limitation of Liability.
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	617
	618	17. Interpretation of Sections 15 and 16.
	619
	620	If the disclaimer of warranty and limitation of liability provided
	621	above cannot be given local legal effect according to their terms,
	622	reviewing courts shall apply local law that most closely approximates
	623	an absolute waiver of all civil liability in connection with the
	624	Program, unless a warranty or assumption of liability accompanies a
	625	copy of the Program in return for a fee.
	626
	627	END OF TERMS AND CONDITIONS
	628
	629	How to Apply These Terms to Your New Programs
	630
	631	If you develop a new program, and you want it to be of the greatest
	632	possible use to the public, the best way to achieve this is to make it
	633	free software which everyone can redistribute and change under these terms.
	634
	635	To do so, attach the following notices to the program. It is safest
	636	to attach them to the start of each source file to most effectively
	637	state the exclusion of warranty; and each file should have at least
	638	the "copyright" line and a pointer to where the full notice is found.
	639
	640	<one line to give the program's name and a brief idea of what it does.>
	641	Copyright (C) <year> <name of author>
	642
	643	This program is free software: you can redistribute it and/or modify
	644	it under the terms of the GNU Affero General Public License as published by
	645	the Free Software Foundation, either version 3 of the License, or
	646	(at your option) any later version.
	647
	648	This program is distributed in the hope that it will be useful,
	649	but WITHOUT ANY WARRANTY; without even the implied warranty of
	650	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	651	GNU Affero General Public License for more details.
	652
	653	You should have received a copy of the GNU Affero General Public License
	654	along with this program. If not, see <http://www.gnu.org/licenses/>.
	655
	656	Also add information on how to contact you by electronic and paper mail.
	657
	658	If your software can interact with users remotely through a computer
	659	network, you should also make sure that it provides a way for users to
	660	get its source. For example, if your program is a web application, its
	661	interface could display a "Source" link that leads users to an archive
	662	of the code. There are many ways you could offer source, and different
	663	solutions will be better for different programs; see section 13 for the
	664	specific requirements.
	665
	666	You should also get your employer (if you work as a programmer) or school,
	667	if any, to sign a "copyright disclaimer" for the program, if necessary.
	668	For more information on this, and how to apply and follow the GNU AGPL, see
	669	<http://www.gnu.org/licenses/>.
	670
	671
	672	Linking Exception
	673
	674	Linking this library statically or dynamically with other modules is making a
	675	combined work based on this library. Thus, the terms and conditions of the GNU
	676	Affero General Public License cover the whole combination.
	677
	678	As a special exception, the copyright holders of this library give you
	679	permission to link this library with independent modules to produce an
	680	executable, regardless of the license terms of these independent modules,
	681	and to copy and distribute the resulting executable under terms of your choice,
	682	provided that you also meet, for each linked independent module, the terms
	683	and conditions of the license of that module. An independent module is a
	684	module which is not derived from or based on this library. If you modify
	685	this library, you may extend this exception to your version of the library,
	686	but you are not obligated to do so. If you do not wish to do so, delete this
	687	exception statement from your version.
	688
	689	As such, it can be used to run, create and distribute a large class of
	690	MindAgents and other applications. When OpenCog is used unmodified as the core
	691	class library for an OpenCog instance, compiler for the combo language, or for
	692	a program written in the combo programming language it does not affect the
	693	licensing for distributing those programs directly.

README.md +106 -0

…	…	@@ -0,0 +1,106 @@
	1	[](https://github.com/opencog/docker/actions)
	2
	3	# OpenCog Docker library
	4	This repository contains various docker images for demoing and using
	5	various parts of the OpenCog project. Using the docker images here is
	6	the easiest way to get interesting parts of OpenCog running.
	7
	8	By using Docker, most of the difficulty of installing and configuring
	9	the large variety of required packages and dependencies is eliminated.
	10	The individual docker files specify exactly what is needed to run a
	11	system or demo. Using these is as simple as saying `./build.sh` and
	12	then `./run.sh`.
	13
	14	The most sophisticated demo is Eva, an animated female head, capable
	15	of seeing you (via a webcam), talking to you (via a chatbot), and
	16	engaging you (and your guests) in social interaction. She will
	17	make eye contact, and express her pleasure with smiles and looks
	18	of surprise and happiness.
	19
	20	  
	21
	22	Another particularly interesting container is that for the OpenCog to
	23	MineCraft bridge, which allows OpenCog to operate an avatar running
	24	around in the MineCraft world.
	25
	26	## Dockerfiles for Robot Operating System (ROS)
	27	Dockerfiles for demoing and working with various different robot heads
	28	and bodies, mostly those from
	29	[Hanson Robotics](https://www.hansonrobotics.com/). Several of the
	30	heads are modeled with blender, and so can be usefully worked with
	31	and controlled even without a physical robot.
	32
	33	Sadly, the Eva demo has bitrotted. There have been some valiant efforts
	34	to bring Eva back to life, to be found in the [noetic](noetic) folder,
	35	but they stand incomplete. The primary roadblock is that Eva requires
	36	an older version of [blender](https://www.blender.org/), version 2.79,
	37	which dates back to 2016. Perhaps a blender expert could port Eva to
	38	a newer version.
	39
	40	The ROS dockerfiles are contained in the [hydro](hydro),
	41	[indigo](indigo), [noetic](noetic) directories. Eva came in
	42	two forms: a basic animation and social interaction demo, in the
	43	[indigo/eva-owyl](indigo/eva-owyl) folder, and a full-featured
	44	system in the [indigo/eva-opencig](indigo/eva-opencog) folder.
	45	These no longer work, due to bitrot; the "good stuff", the last
	46	attempt to get everything working, is in the [noetic](noetic) folder.
	47
	48	## Dockerfiles for OpenCog
	49	Opencog system dockerfiles can be found in the [opencog](opencog)
	50	directory. Up-to-date, current pre-built versions of these Docker
	51	containers can be downloaded from dockerhub. Simply go to the
	52	[opencog](opencog) directory, and run the `docker-build.sh` shell
	53	script. `docker-build.sh -h` for help, and `docker-build.sh -a`
	54	to download everything.
	55
	56	### Obsolete demos
	57	If you have been sent here, and cannot find what you were told about,
	58	look in the [archive](archive) directory. It contains copies of all of
	59	the unsupported, abandond and obsolete projects that were once a part of
	60	OpenCog.
	61
	62	### OpenCog demo
	63	The [lang-pairs](opencog/lang-pairs) container hosts a stand-alone
	64	word-pair visualization demo. If you have some files containing
	65	text, ideally more than a few thousand words and less than a few
	66	million, then this demo can process the files and extract the
	67	word-pair mutual information. This can then be viewed by aiming
	68	a web browser at the docker container. Just follow the directions
	69	in the README.
	70
	71	### Docker image dependency structure:
	72
	73	├─opencog/opencog-deps
	74	├─opencog/atomspace
	75	├─opencog/learn
	76	├─opencog/lang-pairs
	77	├─opencog/lang-mst
	78
	79	### Organizational Notes:
	80	Dockerhub's copies of opencog dockerfiles are here:
	81	https://hub.docker.com/search?q=opencog
	82
	83	* `opencog/opencog-deps:latest`: Ubuntu 22.04 based image with all
	84	OpenCog's dependencies installed. This does not need to be rebuilt,
	85	except to pick up the latest version of the base OS and OS security
	86	patches. This is the base image for `opencog/atomspace`.
	87
	88	* `opencog/atomspace`: This depends on the `opencog/opencog-deps:latest`
	89	image. It provides the AtomSpace, RocksDB, the Cogserver, and the
	90	network CogStorageNode, allowing complex AtomSpace networks to
	91	be built.
	92
	93	* `opencog/learn`: This depends on the `opencog/atomspace:latest`
	94	image. It provides the basic development environment for the
	95	language learning project.
	96
	97	## Usage
	98	* To run the demos and other containers, docker must be installed.
	99	Instructions can be found [here](https://docs.docker.com/installation/).
	100	The "[Giving non-root access](https://docs.docker.com/installation/ubuntulinux/#giving-non-root-access)"
	101	section of the docker docs explains how to avoid having to use `sudo`
	102	all the time.
	103
	104	* The `docker-build.sh` file in [opencog](opencog) directory can be used
	105	to build the containers mentioned above. Run `./docker-build.sh -h`
	106	for usage instructions.

archive/README.md +285 -0

…	…	@@ -0,0 +1,285 @@
	1	Obsolete OpenCog Docker Images
	2	------------------------------
	3	This directory contains all of the unmaintained, abandoned and
	4	obsolete docker configurations for some of OpenCog's older projects.
	5	The instructions below are a snapshot of the instructions, as they
	6	used to be, circa 2015, and so may feel anachronistic. The goal was
	7	to explain... *How to get started with using docker to deploy
	8	production servers, as well as for development.* ... and so on.
	9
	10	Some of the notable containers include:
	11
	12	* `opencog/cogserver` -- An empty CogServer container.
	13	* `opencog/opencog-dev` -- All supported OpenCog components.
	14
	15	* `opencog/opencog-dev:cli`: This depends on the
	16	`opencog/atomspace:latest` image. It installs all supported opencog
	17	repos and tools, including `as-moses`.
	18
	19	* `opencog/opencog-dev:ide`: To be used for developing using IDEs.
	20	QtCreator is installed.
	21
	22	* `opencog/opencog-jupyter`: Above, plus a Jupyter notebook.
	23
	24	All of the containers above are "empty", in that they contain no data,
	25	and thus, they don't "do anything".
	26
	27	## Table of Contents
	28	1. [Common Initial Setup](#common-initial-setup)
	29	1. [Linux and UNIX-like Systems](#linux-and-unix-like-systems)
	30	2. [Windows](#windows)
	31	2. [Running Production Servers](#running-production-servers)
	32	3. [Steps for OpenCog development](#steps-for-opencog-development)
	33	4. [Steps for RelEx development](#steps-for-relex-development)
	34	RelEx is deprecated/obsolete.
	35	5. [Steps for opencog-to-minecraft development](#steps-for-opencog-to-minecraft-development)
	36	Minecraft is obsolete.
	37
	38	## Common Initial Setup
	39	The following sub-sections describe the steps required to configure docker on
	40	your OS, regardless of which project you are working on.
	41
	42	### Linux and UNIX-like Systems
	43	1. Follow the instructions [here](https://docs.docker.com/engine/installation/)
	44	for setting up docker.
	45
	46	2. Pull images that are used for opencog development by running
	47	`./docker-build.sh -a`
	48	3. Build images using `./docker-build.sh [OPTIONS]`.
	49	* For language learning work, use the `-l` option.
	50	* If you want to update your images add `-u` option. For example,
	51	for opencog development, use `-ctu` options. Unless there are
	52	some base OS changes, or changes to ocpkg/octool, you don't have
	53	to update `opencog/opencog-deps` image.
	54	* To list the available options, use `-h`
	55	* For opencog development use `-bct` option
	56	* For NLP related work use `-r` option
	57	* For opencog-to-minecraft use `-bcte` option
	58
	59	4. The following is required only if you want to use `docker-compose`
	60	setup that is described below. You only need to do this once, or
	61	repeat it when updating.
	62
	63	```
	64	sudo apt install docker-compose
	65	```
	66
	67	5. Run docker using whichever setup you are accustomed to. If you want
	68	to use `docker-compose`, follow the steps below, as per your type
	69	of development. The `docker-compose` setup enables you to persist
	70	changes you make on the opencog repos, from within the container,
	71	to your host OS, even when you choose to remove the containers.
	72
	73	### Windows
	74	1. Follow the instruction
	75	[here](https://docs.docker.com/engine/installation/windows) for setting
	76	docker,
	77
	78	2. Start the docker virtual machine using 'Docker Quickstart Terminal' as
	79	described in the linked web-page from the previous step,
	80
	81	3. Pull images that are used for opencog development by running
	82	`./docker-build.sh -a`
	83	4. Build images using `./docker-build.sh [OPTIONS]`
	84	* If you want to update your images add `-u` option. For example,
	85	for opencog development, use `-ctu` options. Unless there are
	86	some base OS changes, or changes to ocpkg/octool, you don't have
	87	to update `opencog/opencog-deps` image.
	88	* To list the available options, use `-h`
	89	* For opencog development use `-bct` option
	90	* For NLP related work add `-r` option
	91
	92	5. In the script `windows-run.sh` found in the same directory as this README,
	93	Replace `$HOME/path/to/` in the export command to the appropriate absolute
	94	path on your windows machine. __Note that you don't have to clone each
	95	repository or add all the paths__, just those you need. Since you will be
	96	using the MINGW environment that was setup by the first step, use UNIX path
	97	naming format.
	98
	99	6. Run `./windows-run.sh`.
	100
	101	## Running Production Servers
	102	Several different server containers are provided. The most important of
	103	these are:
	104	* The atomspace container, which contains the core atomspace that
	105	everyone needs. It does not contain any of the more experimental
	106	repos, nor any of the older, deprecated or abandoned projects.
	107	* The development container, which contains everything, including
	108	development tools, and most (but not all!) of the experimental
	109	repos, and some of the deprecated repos that are still in use.
	110
	111	## Steps for OpenCog development
	112	__For UNIX-like systems only, if you choose to use docker-compose__
	113
	114	1. Specify a directory for storing ccache's compiler outputs on your host OS
	115
	116	```
	117	mkdir -p $HOME/path/to/where/you/want/to/save/ccache/output
	118	export CCACHE_DIR=$HOME/path/to/where/you/want/to/save/ccache/output`
	119	```
	120
	121	Specifying this means, making a clean build of source code after removing a
	122	container will be faster. If you don't want to do this, then comment out the
	123	`- $CCACHE_DIR:/home/opencog/.ccache` in `common.yml` file
	124
	125	2. Add these lines to `~/.bashrc` at $HOME of your host OS and run
	126	`source ~/.bashrc`.
	127
	128	```
	129	export ETC_LOCALTIME=$(readlink /etc/localtime)
	130	export OPENCOG_SOURCE_DIR=$HOME/path/to/opencog
	131	export ATOMSPACE_SOURCE_DIR=$HOME/path/to/atomspace
	132	export COGUTIL_SOURCE_DIR=$HOME/path/to/cogutil
	133	export OC2MC_SOURCE_DIR=$HOME/path/to/opencog-to-minecraft
	134	```
	135
	136	Optionally, if you are using `moses` add to `~/.bashrc`,
	137	`export MOSES_SOURCE_DIR=$HOME/path/to/moses` and uncomment
	138	`- $MOSES_SOURCE_DIR:/moses` line in the docker-compose.yml file.
	139
	140	3. For starting the containers using docker-compose run either of the following
	141	commands,
	142	* If you want to map container ports to host run
	143	`docker-compose run --service-ports dev`
	144	* If you don't want to map ports to host run
	145	`docker-compose run dev`
	146
	147	4. The container has opencog installed, but if you want to install
	148	cogutil, atomspace, or opencog due to some change you made in
	149	the source code found on your host, `cd` into the mount directory inside
	150	the container and then run `/tmp/octool -bi`
	151
	152	5. For using opencog shells follow instruction
	153	[here](http://wiki.opencog.org/w/OpenCog_shell)
	154
	155	6. Have fun hacking
	156
	157	7. Exit container
	158
	159	## Steps for RelEx development
	160	RelEx is deprecated/obsolete. It builds and works just fine, and is
	161	perfectly usable. However, it is no longer maintained, and is not
	162	recommended for any future development. See the (commented out)
	163	instructions in this README for details.
	164
	165	RelEx is deprecated/obsolete.
	166
	167	6. For configuring RelEx in the cogserver run
	168	* start the cogserver, telnet into it and access the scheme shell.
	169	* `(use-modules (opencog nlp) (opencog nlp chatbot) (opencog nlp relex2logic))`
	170	* `(set-relex-server-host)`
	171	* `(nlp-parse "you know what this is.")`
	172
	173	## Steps for RelEx development
	174	__For UNIX like systems only, and if you choose to use docker-compose__
	175
	176	1. Add these lines to `~/.bashrc` at $HOME of your PC and run
	177	`source ~/.bashrc`.
	178
	179	```
	180	export RELEX_SOURCE_DIR=$HOME/path/to/relex
	181	```
	182
	183	2. For starting the containers run either of the following commands,
	184	* If you want to map container ports to host run
	185	`docker-compose -f relex.yml run --service-ports relex`
	186	* If you don't want to map ports to host run
	187	`docker-compose -f relex.yml run relex`
	188
	189	## Steps for running jupyter kernels with opencog
	190	For some reason, the Jupyter container no longer builds. There is some
	191	bug with setting up the python environment. If you know how to use
	192	python, please fix this (these) config bugs (and remove this error
	193	message when done.)
	194
	195	1. Build the image which has python and guile kernels installed with the following command.
	196	```
	197	./docker-build -j
	198	```
	199	This would build/pull necessary docker images.
	200
	201	2. Add this lines to `./.bashrc` to point to your preferred notebooks save directory
	202
	203	```
	204	export OPENCOG_NOTEBOOKS=$HOME/path/to/opencog_notebooks
	205	```
	206	3. For starting jupyter notebook run the following command.
	207
	208	```
	209	docker-compose -f opencog-jupyter.yml run --service-ports notes
	210	```
	211	4. Go to `0.0.0.0:8888/tree/notebooks` to interact with your notebooks.
	212
	213	## Steps for opencog-to-minecraft development
	214	The minecraft code is currently bit-rotted, and will not build.
	215	See the (commented out) instructions in this README for details.
	216
	217	## Steps for opencog-to-minecraft development
	218	__For UNIX like systems only, and if you choose to use docker-compose__
	219
	220	1. Add these lines to `~/.bashrc` at $HOME of your PC and run
	221	`source ~/.bashrc`.
	222
	223	```
	224	export ETC_LOCALTIME=$(readlink /etc/localtime)
	225	export OPENCOG_SOURCE_DIR=$HOME/path/to/opencog
	226	export ATOMSPACE_SOURCE_DIR=$HOME/path/to/atomspace
	227	export COGUTIL_SOURCE_DIR=$HOME/path/to/cogutil
	228	export OC2MC_SOURCE_DIR=$HOME/path/to/opencog-to-minecraft
	229	```
	230
	231	2. To start the Minecraft server and access a configured development environment
	232	run `docker-compose -f minecraft.yml run oc2mc`. The server.properties file
	233	is found in `minecraft/data` in the same folder as this README. The file is
	234	auto-generated so on changing the entries, restart the server by running
	235	` docker restart minecraft-server`.
	236
	237	3. Run `tmux` inside the container for working with multiple windows/panes.
	238	If you create multiple panes you can use your mouse as an alternative to
	239	switch between panes.
	240
	241	4. Open a separate terminal, on your host, run `docker attach minecraft-server`.
	242	This gives you access to the server's console that is used for configuration.
	243
	244	5. Except PYTHONPATH setting step, which isn't needed because it is already
	245	configured inside the container, follow the steps described
	246	[here](https://github.com/opencog/opencog-to-minecraft#steps-to-start-the-bot)
	247
	248	## Steps for opencog perception development
	249	The perception code is currently bit-rotted, and will not build.
	250	See the (commented out) instructions in this README for details.
	251
	252	## Steps for opencog perception development
	253	__WIP and only for use with systems with gpus, for now__
	254
	255	1. Install nvidia docker plugin by following instruction
	256	[here](https://github.com/NVIDIA/nvidia-docker/wiki/Installation).
	257
	258	2. Build openog/perception image by running
	259	`docker build -t opencog/perception perception/` from this directory.
	260
	261	3. For usage of the built image see
	262	[here](https://github.com/NVIDIA/nvidia-docker/wiki/nvidia-docker).
	263
	264	## Docker Cheat Sheet
	265	* `docker images`
	266	* `docker rmi <image-hex>`
	267	* `docker ps -a`
	268	* `docker rm <image-name>`
	269
	270	## Notes
	271	1. Both `tmux` and `byobu` are installed, so you can use either for
	272	multiple windows/panes.
	273
	274	2. On exiting the opencog container, postgres & relex will still be
	275	running in the background. So when running `docker-compose run ...`
	276	it will auto-link to them, provided you haven't removed the
	277	containers or shutdown your machine.
	278
	279	3. For more on docker-compose refer to https://docs.docker.com/compose/
	280
	281	## TODO
	282	1. Update docker-compose configuration for minimizing steps to start
	283	developing
	284
	285	2. Add more images to github workflow for automated publishing

archive/bap/Dockerfile +57 -0

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	1	#
	2	# OpenCog BAP/BIL development container.
	3	# BAP is the Carnegie-Mellon Binary Analysis Program
	4	# BIL is the BAP intermediate language
	5	# This container is meant for developing machine learning to analyze
	6	# software binaries, with the end-goal of threat mitigation. Provided
	7	# for Object Security LLC objectsecurity.com
	8	#
	9	# Steps to take:
	10	# 1. docker build -t opencog/atomspace:bap .
	11	# 2. docker create --name atomspace-bap -p 17001:17001
	12	# -v /ABSOLUTE/PATH/TO/YOUR/WORKING/DIRECTORY/On/Your/PC/:/devel
	13	# -w /devel
	14	# -it opencog/atomspace:bap
	15	# 3. docker start -i atomspace-bap
	16
	17	FROM opencog/cogutil
	18
	19	RUN apt-get -y install opam
	20
	21	# Switch away from the root user before doing opam work.
	22	USER opencog
	23	WORKDIR /home/opencog
	24
	25	# Inits opam and install the OCaml compiler. Disable sandboxing
	26	# per https://github.com/ocaml/opam-repository/issues/20093
	27	RUN opam init --comp=4.09.0 --disable-sandboxing
	28
	29	# Activate opam environment
	30	RUN eval `opam config env`
	31
	32	RUN opam install -y core
	33	RUN opam install -y depext
	34
	35	# Install bap and its dependencies
	36	RUN opam -y depext --install bap -y
	37
	38	RUN eval $(opam env)
	39
	40	# Install core atomspace.
	41	RUN /tmp/octool -a && ccache -C
	42
	43	# Setup the workspace for developers
	44	## Dont't mount host volumes to opencog's home directory inside the
	45	## container, if you do you will not find the contents copied below
	46	COPY /scripts/ /home/opencog
	47
	48	# Cannot chown -R .* because the .opam dir is 4.5 GB and the .stack
	49	# dir is 1.5 GB and these take forever to chown. ... and don't need
	50	# to be. However, anything we copy does need to be.
	51	RUN sudo chown -R opencog:opencog .ocamlinit
	52
	53	# Docker defaults
	54	CMD /bin/bash
	55
	56	# For images built on this
	57	ONBUILD USER root

archive/bap/scripts/.ocamlinit +13 -0

…	…	@@ -0,0 +1,13 @@
	1	(* boilplate -- not sure if all of this is needed. *)
	2	#use "topfind"
	3	#camlp4o
	4	#thread
	5	#require "core.top"
	6	#require "core.syntax"
	7
	8	(* BAP stuff *)
	9	#require "bap.top";;
	10
	11	(* Atomese stuff *)
	12	#directory "/usr/local/lib/opencog/ocaml/" ;;
	13	#use "atomese.ml" ;;

archive/cogutil/Dockerfile +18 -0

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	1	#
	2	# Steps to take:
	3	#
	4	# 1. docker build --no-cache -t opencog/cogutil
	5	# 2. docker run --rm -it opencog/cogutil
	6
	7	FROM opencog/opencog-deps:latest
	8
	9	# Install cogutil
	10	RUN /tmp/octool -c && ccache -C
	11
	12	USER opencog
	13
	14	# Docker defaults
	15	CMD bash
	16
	17	# For images built on this
	18	ONBUILD USER root

archive/common.yml +24 -0

…	…	@@ -0,0 +1,24 @@
	1	# Used for setting common docker-compose run configurations for the files,
	2	# * docker-compose.yml
	3	# * minecraft.yml
	4	# NOTE: Don't add links in this file
	5
	6	services:
	7	workspace:
	8	image: opencog/opencog-dev:cli
	9	ports: # syntax is host:container
	10	- "5000:5000"
	11	- "17001:17001"
	12	- "8080:8080"
	13	volumes:
	14	- $OPENCOG_SOURCE_DIR:/opencog
	15	- $HOME/.gitconfig:/home/opencog/.gitconfig # for git commits,stash ...
	16	- ${ETC_LOCALTIME}:/etc/localtime:ro # for syncing with host time.
	17	- $CCACHE_DIR:/home/opencog/.ccache # for persisting ccache artifacts
	18	environment: # Set environment variables within the container
	19	- OPENCOG_SOURCE_DIR=/opencog
	20	- CCACHE_DIR=/home/opencog/.ccache
	21	- PGHOST=db # This should be the same as the link's alias
	22	- PGUSER=opencog_user # user created by configure-database.sh
	23	command: bash
	24

archive/docker-build.sh +275 -0

…	…	@@ -0,0 +1,275 @@
	1	#!/bin/bash
	2	#
	3	# Notes:
	4	# 1. Build's all the images for development. You can also pull the images from
	5	# docker registry, but they are a bit bulky.
	6	# 2. If your user is not a member of the docker group you can add it by running
	7	# sudo adduser $USER docker . On restart you would be able to run docker and
	8	# this script without root privilege.
	9	# 3. This works for docker version >= 1.5.0
	10	# 4. If run without -u option it will not rebuild all the images unless the base
	11	# ubuntu image is updated.
	12
	13	# Exit on error
	14	set -e
	15
	16	# Environment Variables
	17	## Use's cache by default unless the -u options is passed
	18	CACHE_OPTION=""
	19
	20	## This file/symlinks name
	21	SELF_NAME=$(basename $0)
	22
	23	# -----------------------------------------------------------------------------
	24	# Main Execution
	25	if [ $# -eq 0 ]; then NO_ARGS=true; fi
	26
	27	while getopts "abcehjlmprstu" flag; do
	28	case $flag in
	29	a) PULL_DEV_IMAGES=true ;;
	30	b) BUILD_OPENCOG_BASE_IMAGE=true ;;
	31	c) BUILD_COGUTIL_IMAGE=true ;;
	32	e) BUILD_EMBODIMENT_IMAGE=true ;;
	33	j) BUILD_JUPYTER_IMAGE=true ;;
	34	l) BUILD_LEARN_IMAGE=true ;;
	35	m) BUILD__MOSES_IMAGE=true ;;
	36	p) BUILD__POSTGRES_IMAGE=true ;;
	37	r) BUILD_RELEX_IMAGE=true ;;
	38	s) BUILD_ATOMSPACE_IMAGE=true ;;
	39	t) BUILD_TOOL_IMAGE=true ;;
	40	u) CACHE_OPTION=--no-cache ;;
	41	h) SHOW_USAGE=true ;;
	42	\?)
	43	SHOW_USAGE=true
	44	# exit 1
	45	;;
	46	*) UNKNOWN_FLAGS=true ;;
	47	esac
	48	done
	49
	50	shift "$(($OPTIND - 1))"
	51	DOCKER_NAME=$1
	52	if [[ -z $DOCKER_NAME ]]; then
	53	DOCKER_NAME="opencog"
	54	fi
	55	GITHUB_NAME=$2
	56	if [[ -z $GITHUB_NAME ]]; then
	57	GITHUB_NAME="opencog"
	58	fi
	59
	60	# Functions
	61	usage() {
	62	printf "Usage: ./%s [OPTIONS] [DOCKER_NAME] [GITHUB_NAME]
	63
	64	OPTIONS:
	65	-a Pull all images needed for development from hub.docker.com/u/${DOCKER_NAME}/
	66	-b Build ${DOCKER_NAME}/opencog-deps image. This provides all dependencies
	67	and development tools used by ${DOCKER_NAME}.
	68	-c Builds ${DOCKER_NAME}/cogutil image. This is the base image for all
	69	other ${DOCKER_NAME} images.
	70
	71	-s Builds ${DOCKER_NAME}/atomspace image.
	72	-l Builds ${DOCKER_NAME}/learn image.
	73
	74	-t Builds ${DOCKER_NAME}/opencog-dev image. It contains all supported
	75	opencog components.
	76	-j Builds ${DOCKER_NAME}/opencog-jupyter image. It adds a jupyter
	77	notebook to ${DOCKER_NAME}/opencog-dev:cli
	78
	79	-u Ignore the docker image cache when building. This will cause the
	80	container(s) to be built from scratch.
	81	-h This help message.
	82
	83	Deprecated (Obsolete):
	84	-e Builds ${DOCKER_NAME}/minecraft image.
	85	-m Builds ${DOCKER_NAME}/moses image.
	86	-p Builds ${DOCKER_NAME}/postgres image.
	87	-r Builds ${DOCKER_NAME}/relex image.
	88
	89	DOCKER_NAME: The name of the Docker user account to be used for this build (default 'opencog').
	90	GITHUB_NAME: The name of the GitHub user account to be used for this build (default 'opencog') \n" "$SELF_NAME"
	91	}
	92
	93	if [ $SHOW_USAGE ]; then
	94	usage
	95	exit 0
	96	fi
	97
	98	# -----------------------------------------------------------------------------
	99	# Sanity check
	100	if ! command -v docker &> /dev/null
	101	then
	102	echo "Error: docker could not be found!"
	103	echo "You can fix this on Debian/Ubuntu by saying:"
	104	echo "$ sudo apt install docker.io docker-compose"
	105	exit
	106	fi
	107
	108	# -----------------------------------------------------------------------------
	109	## Build opencog/opencog-deps image.
	110	build_opencog_deps() {
	111	echo "---- Starting build of ${DOCKER_NAME}/opencog-deps ----"
	112	OCPKG_OPTION=""
	113	if [ ! -z "$OCPKG_URL" ]; then
	114	OCPKG_OPTION="--build-arg OCPKG_URL=$OCPKG_URL"
	115	fi
	116	GITHUB_OPTION="--build-arg GITHUB_NAME=$GITHUB_NAME"
	117	docker build $CACHE_OPTION $OCPKG_OPTION $GITHUB_OPTION -t ${DOCKER_NAME}/opencog-deps base
	118	echo "---- Finished build of ${DOCKER_NAME}/opencog-deps ----"
	119	}
	120
	121	## If the opencog/opencog-deps image hasn't been built yet then build it.
	122	check_opencog_deps() {
	123	if [ -z "$(docker images ${DOCKER_NAME}/opencog-deps | grep -i opencog-deps)" ]; then
	124	build_opencog_deps
	125	fi
	126	}
	127
	128	# -----------------------------------------------------------------------------
	129	## Build opencog/cogutil image.
	130	build_cogutil() {
	131	check_opencog_deps
	132	echo "---- Starting build of ${DOCKER_NAME}/cogutil ----"
	133	OCPKG_OPTION=""
	134	if [ ! -z "$OCPKG_URL" ]; then
	135	OCPKG_OPTION="--build-arg OCPKG_URL=$OCPKG_URL"
	136	fi
	137	GITHUB_OPTION="--build-arg GITHUB_NAME=$GITHUB_NAME"
	138	docker build $CACHE_OPTION $OCPKG_OPTION $GITHUB_OPTION -t ${DOCKER_NAME}/cogutil cogutil
	139	echo "---- Finished build of ${DOCKER_NAME}/cogutil ----"
	140
	141	}
	142
	143	## If the opencog/cogutil image hasn't been built yet then build it.
	144	check_cogutil() {
	145	if [ -z "$(docker images ${DOCKER_NAME}/cogutil | grep -i cogutil)" ]; then
	146	build_cogutil
	147	fi
	148	}
	149
	150	# -----------------------------------------------------------------------------
	151	## Build opencog/atomspace image.
	152	build_atomspace() {
	153	check_cogutil
	154	echo "---- Starting build of ${DOCKER_NAME}/atomspace ----"
	155	OCPKG_OPTION=""
	156	if [ ! -z "$OCPKG_URL" ]; then
	157	OCPKG_OPTION="--build-arg OCPKG_URL=$OCPKG_URL"
	158	fi
	159	GITHUB_OPTION="--build-arg GITHUB_NAME=$GITHUB_NAME"
	160	docker build $CACHE_OPTION $OCPKG_OPTION $GITHUB_OPTION -t ${DOCKER_NAME}/atomspace atomspace
	161	echo "---- Finished build of ${DOCKER_NAME}/atomspace ----"
	162	}
	163
	164	## If the opencog/atomspace image hasn't been built yet then build it.
	165	check_atomspace() {
	166	if [ -z "$(docker images ${DOCKER_NAME}/atomspace | grep -i atomspace)" ]; then
	167	build_atomspace
	168	fi
	169	}
	170
	171	# -----------------------------------------------------------------------------
	172	## Build opencog/opencog-dev image.
	173	build_dev_cli() {
	174	check_cogutil
	175	echo "---- Starting build of ${DOCKER_NAME}/opencog-dev ----"
	176	GITHUB_OPTION="--build-arg GITHUB_NAME=$GITHUB_NAME"
	177	docker build $CACHE_OPTION $GITHUB_OPTION -t ${DOCKER_NAME}/opencog-dev tools/cli
	178	echo "---- Finished build of ${DOCKER_NAME}/opencog-dev ----"
	179	}
	180
	181	## If the opencog/opencog-dev image hasn't been built yet then build it.
	182	check_dev_cli() {
	183	if [ -z "$(docker images ${DOCKER_NAME}/opencog-dev | grep -i opencog-dev)" ]; then
	184	build_dev_cli
	185	fi
	186	}
	187
	188	# -----------------------------------------------------------------------------
	189	## Pull all images needed for development from hub.docker.com/u/opencog/
	190	pull_dev_images() {
	191	echo "---- Starting pull of opencog development images ----"
	192	docker pull ${DOCKER_NAME}/opencog-deps
	193	docker pull ${DOCKER_NAME}/cogutil
	194	docker pull ${DOCKER_NAME}/atomspace
	195	docker pull ${DOCKER_NAME}/learn
	196	docker pull ${DOCKER_NAME}/opencog-dev:cli
	197	echo "---- Finished pull of opencog development images ----"
	198	}
	199
	200	# -----------------------------------------------------------------------------
	201	# NOTE: To avoid repetion of builds don't reorder the sequence here.
	202
	203	if [ $PULL_DEV_IMAGES ]; then
	204	pull_dev_images
	205	exit 0
	206	fi
	207
	208	if [ $BUILD_OPENCOG_BASE_IMAGE ]; then
	209	build_opencog_deps
	210	fi
	211
	212	if [ $BUILD_COGUTIL_IMAGE ]; then
	213	build_cogutil
	214	fi
	215
	216	if [ $BUILD_ATOMSPACE_IMAGE ]; then
	217	build_atomspace
	218	fi
	219
	220	if [ $BUILD_LEARN_IMAGE ] ; then
	221	echo "---- Starting build of ${DOCKER_NAME}/learn ----"
	222	docker build $CACHE_OPTION -t ${DOCKER_NAME}/learn learn
	223	echo "---- Finished build of ${DOCKER_NAME}/learn ----"
	224	fi
	225
	226	if [ $BUILD_TOOL_IMAGE ]; then
	227	build_dev_cli
	228	fi
	229
	230	if [ $BUILD_EMBODIMENT_IMAGE ]; then
	231	check_dev_cli
	232	echo "---- Starting build of ${DOCKER_NAME}/minecraft ----"
	233	docker build $CACHE_OPTION -t ${DOCKER_NAME}/minecraft:0.1.0 minecraft
	234	echo "---- Finished build of ${DOCKER_NAME}/minecraft ----"
	235	fi
	236
	237	if [ $BUILD__MOSES_IMAGE ]; then
	238	check_cogutil
	239	echo "---- Starting build of ${DOCKER_NAME}/moses ----"
	240	docker build $CACHE_OPTION -t ${DOCKER_NAME}/moses moses
	241	echo "---- Finished build of ${DOCKER_NAME}/moses ----"
	242	fi
	243
	244	if [ $BUILD__POSTGRES_IMAGE ]; then
	245	echo "---- Starting build of ${DOCKER_NAME}/postgres ----"
	246	ATOM_SQL_OPTION=""
	247	if [ ! -z "$ATOM_SQL_URL" ]; then
	248	ATOM_SQL_OPTION="--build-arg ATOM_SQL_URL=$ATOM_SQL_URL"
	249	fi
	250	docker build $CACHE_OPTION $ATOM_SQL_OPTION -t ${DOCKER_NAME}/postgres postgres
	251	echo "---- Finished build of ${DOCKER_NAME}/postgres ----"
	252	fi
	253
	254	if [ $BUILD_RELEX_IMAGE ]; then
	255	echo "---- Starting build of ${DOCKER_NAME}/relex ----"
	256	RELEX_OPTIONS=""
	257	if [ ! -z "$RELEX_REPO" ]; then
	258	RELEX_OPTIONS="--build-arg RELEX_REPO=$RELEX_REPO"
	259	fi
	260	if [ ! -z "$RELEX_BRANCH" ]; then
	261	RELEX_OPTIONS="$RELEX_OPTIONS --build-arg RELEX_BRANCH=$RELEX_BRANCH"
	262	fi
	263	docker build $CACHE_OPTION $RELEX_OPTIONS -t ${DOCKER_NAME}/relex relex
	264	echo "---- Finished build of ${DOCKER_NAME}/relex ----"
	265	fi
	266
	267	if [ $BUILD_JUPYTER_IMAGE ]; then
	268	check_dev_cli
	269	echo "---- Starting build of ${DOCKER_NAME}/opencog-jupyter ----"
	270	docker build $CACHE_OPTION -t ${DOCKER_NAME}/opencog-jupyter tools/jupyter_notebook
	271	echo "---- Finished build of ${DOCKER_NAME}/opencog-jupyter ----"
	272	fi
	273
	274	if [ $UNKNOWN_FLAGS ] ; then usage; exit 1 ; fi
	275	if [ $NO_ARGS ] ; then usage ; fi

archive/docker-compose.yml +33 -0

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	1	# Usage: Follow the steps in the README file in the directory containing this file
	2
	3	services:
	4	dev:
	5	extends:
	6	file: common.yml
	7	service: workspace
	8	volumes:
	9	- $ATOMSPACE_SOURCE_DIR:/atomspace
	10	- $COGUTIL_SOURCE_DIR:/cogutil
	11	# Uncomment the following lines if you want to work on moses
	12	# - $MOSES_SOURCE_DIR:/moses
	13	working_dir: /opencog # This is the same as the volume mount point below
	14	environment:
	15	- ATOMSPACE_SOURCE_DIR=/atomspace
	16	- COGUTIL_SOURCE_DIR=/cogutil
	17	links:
	18	- postgres:db
	19	- relex:relex
	20
	21	postgres:
	22	image: opencog/postgres
	23	# Uncomment the following lines if you want to work on a production
	24	# system.
	25	# NOTE: The environment variable `PROD` is set `True` then the entrypoint
	26	# script in opencog/postgres does additional configurations.
	27	# environment:
	28	# - PROD=True
	29
	30	relex:
	31	image: opencog/relex
	32	command: /bin/sh -c "./opencog-server.sh"
	33

archive/embodiment/Dockerfile +29 -0

…	…	@@ -0,0 +1,29 @@
	1	# For use with Docker https://www.docker.io/gettingstarted/
	2	#
	3	# docker build -t $USER/opencog-embodiment .
	4	# docker run --name embodiment -d -p 17001:17001 -p 5000:5000 -p 16312:16312 $USER/opencog-embodiment
	5	# docker logs embodiment
	6
	7	FROM opencog/opencog-deps
	8
	9	# Set locale
	10	RUN sudo locale-gen en_US en_US.UTF-8 && \
	11	sudo dpkg-reconfigure locales
	12
	13	# Get ocpkg script, replace wget with ADD when caching feature is added
	14	ADD opencog /opencog
	15	RUN mkdir -v -p /opencog/build
	16	WORKDIR /opencog/build
	17	RUN rm CMakeCache.txt
	18	RUN cmake ..
	19	RUN make -j$(nproc)
	20
	21	# Run special scripts to copy embodiment files (should be in cmake not tclsh!)
	22	#RUN apt-get -y install lsof psmisc
	23
	24	WORKDIR /opencog/scripts/embodiment
	25	RUN ./make_distribution
	26
	27	# Start embodiment cogserver, spawner, router, etc. when container runs
	28	WORKDIR /opencog/build/dist/embodiment
	29	CMD ["/opencog/build/dist/embodiment/spawner"]

archive/embodiment/README.md +1 -0

…	…	@@ -0,0 +1 @@
	1	Work in progress.

archive/minecraft.yml +36 -0

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	1	# Usage:
	2	# 1. docker build -t opencog/minecraft minecraft/
	3	# 2. docker-compose -f minecraft.yml run --rm oc2mc
	4
	5	oc2mc:
	6	extends:
	7	file: common.yml
	8	service: workspace
	9	image: opencog/minecraft:0.1.0
	10	volumes:
	11	- /tmp/.X11-unix/:/tmp/.X11-unix/:ro # For GUI
	12	- $OC2MC_SOURCE_DIR:/oc2mc
	13	links:
	14	- minecraft-server:minecraft
	15	environment:
	16	- MC_SERVER_NAME=minecraft # Should be same as the links field hostname
	17	working_dir: /oc2mc
	18
	19
	20	# For more configuration through environment variables see
	21	# github.com/itzg/dockerfiles/tree/master/minecraft-server#server-configuration
	22	minecraft-server:
	23	image: itzg/minecraft-server
	24	container_name: minecraft-server
	25	ports:
	26	- "25565:25565" # Needed for the client
	27	volumes: # For persistance of configurations
	28	- $PWD/minecraft/data:/data
	29	environment:
	30	- VERSION=1.8.8
	31	- MODE=creative
	32	- EULA=TRUE # This in effect says the user agrees to the Minecraft eula
	33	# TODO How to handle it.
	34	# The follwoing are needed for interacting with the server from terminal
	35	tty: true
	36	stdin_open: true

archive/minecraft/.dockerignore +1 -0

…	…	@@ -0,0 +1 @@
	1	data/*

archive/minecraft/Dockerfile +45 -0

…	…	@@ -0,0 +1,45 @@
	1	FROM opencog/opencog-dev:cli
	2
	3	# ROS installation
	4	# https://github.com/osrf/docker_images/blob/master/ros/indigo/indigo-ros-core/
	5	# https://github.com/osrf/docker_images/blob/master/ros/indigo/indigo-ros-base/
	6	RUN locale-gen en_US.UTF-8
	7	ENV LANG en_US.UTF-8
	8	ENV ROS_DISTRO kinetic
	9
	10	## python3-dev & python3-setuptools are for spock included in this
	11	## instruction for minimizing layers
	12	RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
	13	RUN apt-get update && apt-get install --no-install-recommends -y \
	14	python-rosdep \
	15	python-rosinstall \
	16	python-vcstools \
	17	ros-kinetic-ros-base \
	18	python3-dev python3-setuptools \
	19	&& rm -rf /var/lib/apt/lists/* \
	20	&& rosdep init
	21
	22	COPY ./ros_entrypoint.sh /
	23
	24	# Spock installation
	25	RUN easy_install pip && pip install cryptography
	26	RUN wget -P /tmp/ https://github.com/SpockBotMC/SpockBot/archive/v0.1.5.tar.gz ;\
	27	cd /tmp ; tar -xvf v0.1.5.tar.gz ; cd SpockBot-0.1.5/ ;\
	28	python setup.py install ;\
	29	cd .. ; rm -rf v0.1.5.master.tar.gz SpockBot-0.1.5
	30
	31	# Installing tmuxinator
	32	## This is NOT the "correct" way of getting this to work. Really should be done the the debian way.
	33	# RUN apt-get update && apt-get install ruby -y;\
	34	RUN gpg --keyserver hkp://pool.sks-keyservers.net --recv-keys 409B6B1796C275462A1703113804BB82D39DC0E3 7D2BAF1CF37B13E2069D6956105BD0E739499BDB
	35	RUN wget -qO- https://get.rvm.io | bash -s stable
	36	#RUN cat /etc/profile.d/rvm.sh | bash
	37	RUN /usr/local/rvm/bin/rvm requirements
	38	RUN /usr/local/rvm/bin/rvm install 2.4.6
	39	RUN /bin/bash -l -c "rvm use 2.4.6 --default"
	40	RUN /bin/bash -l -c "gem install tmuxinator"
	41
	42	USER opencog
	43	RUN rosdep update
	44	ENTRYPOINT ["/ros_entrypoint.sh"]
	45	CMD ["bash"]

archive/minecraft/ros_entrypoint.sh +13 -0

…	…	@@ -0,0 +1,13 @@
	1	#!/bin/bash
	2	# TODO: 1. Move this script to the base class
	3	# 2. add new env variables for modifying PYTHONPATH. That way the export
	4	# below wouldn't be built to images.
	5
	6	set -e
	7
	8	# setup ros environment
	9	source "/opt/ros/$ROS_DISTRO/setup.bash"
	10
	11	# For oc2mc
	12	export PYTHONPATH=$PYTHONPATH:/oc2mc:/oc2mc/minecraft_bot/src
	13	exec "$@"

archive/moses/Dockerfile +25 -0

…	…	@@ -0,0 +1,25 @@
	1	# Step to take
	2	# 1. docker build --no-cache -t opencog/moses .
	3	# 2. docker run -v $PWD:/home/moses -it opencog/moses bash
	4	# 3. moses
	5
	6	# Note:
	7	# 1. Since the build on r-base offical image R is installed on the system
	8	# 1. R is installed because there is an r binding being developed
	9	# @ https://github.com/mjsduncan/Rmoses . Since there is no cran
	10	# package for it devtools should be used. An Rscript has to be written (I guess)
	11	# 2. Step 2 above assumes you are running the command from a directory
	12	# containing some data. Instead of $PWD you could use abslute path like
	13	# $HOME/path/to/data/
	14
	15	FROM opencog/cogutil
	16
	17	# Install R
	18	RUN apt-get -y install r-base
	19
	20	# Install moses
	21	RUN /tmp/octool -m && ccache -C
	22
	23	# Docker Defaults
	24	USER opencog
	25	CMD bash

archive/opencog-ide.yml +25 -0

…	…	@@ -0,0 +1,25 @@
	1	# Follow the instruction below for easy setup of environment
	2	#
	3	# Usage: Follow the steps in the README file in the directory containing this file
	4	# 1. docker-compose -f opencog-ide.yml build (run this when there is a dependency change)
	5	# 2. docker-compose -f opencog-ide.yml run --service-ports dev
	6	# 3. Check http://wiki.opencog.org/w/Using_QT_Creator on how to use qtcreator.
	7
	8	# Note: You can use your mouse to switch between tmux windows/panes
	9
	10	dev:
	11	build: tools/ide
	12	ports: # syntax is host:container
	13	- "5000:5000"
	14	- "17001:17001"
	15	- "18001:18001"
	16	- "8080:8080"
	17	working_dir: /opencog # This is the same as the volume mount point below
	18	volumes:
	19	- $OPENCOG_SOURCE_DIR:/opencog
	20	- $HOME/.gitconfig:/home/opencog/.gitconfig
	21	- /tmp/.X11-unix/:/tmp/.X11-unix/:ro # For GUI
	22	environment: # Set environment variables within the container
	23	- PYTHONPATH=/opencog/build/opencog/cython:/opencog/opencog/python/:/opencog/opencog/nlp/
	24	- OPENCOG_SOURCE_DIR=/opencog
	25	- DISPLAY=:0 # For GUI assuming a single monitor setup. This should be set on run.

archive/opencog-jupyter.yml +34 -0

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	1	# Follow the instructions below for setting using jupyter notebooks with opencog.
	2	#
	3	version: '3'
	4	services:
	5	notes:
	6	image: opencog/jupyter:latest
	7	ports:
	8	- "17001:17001"
	9	- "18001:18001"
	10	- "8080:8080"
	11	- "8888:8888"
	12	working_dir: /opencog/notebooks
	13	volumes:
	14	- $OPENCOG_SOURCE_DIR:/opencog
	15	- $HOME/.gitconfig:/home/opencog/.gitconfig
	16	- /tmp/.X11-unix/:/tmp/.X11-unix/:ro # For GUI
	17	- $OPENCOG_NOTEBOOKS:/opencog/notebooks
	18	environment: # Set environment variables within the container
	19	- PYTHONPATH=/opencog/build/opencog/cython:/opencog/opencog/python/:/opencog/opencog/nlp/
	20	- OPENCOG_SOURCE_DIR=/opencog
	21	depends_on:
	22	- relex
	23	postgres:
	24	image: opencog/postgres
	25	# Uncomment the following lines if you want to work on a production
	26	# system.
	27	# NOTE: The environment variable `PROD` is set `True` then the entrypoint
	28	# script in opencog/postgres does additional configurations.
	29	# environment:
	30	# - PROD=True
	31
	32	relex:
	33	image: opencog/relex
	34	command: /bin/sh -c "./opencog-server.sh"

archive/perception/.tmux.conf +6 -0

…	…	@@ -0,0 +1,6 @@
	1	# This configuration file is kept to avoid duplicating it
	2	# in multiple direcories that may use it, even-though the
	3	# base image doesn't have tmux.
	4
	5	# Enable mouse usage
	6	set-option -g mouse on

archive/perception/Dockerfile +21 -0

…	…	@@ -0,0 +1,21 @@
	1	FROM gcr.io/tensorflow/tensorflow:latest-gpu
	2
	3	RUN apt-get update
	4
	5	# Install tools for developers.
	6	RUN apt-get -y install sudo rlwrap telnet less tmux man git
	7
	8	# Create and switch user. The user is privileged with no password required
	9	RUN adduser --disabled-password --gecos "OpenCog Developer" opencog
	10	RUN adduser opencog sudo
	11	RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
	12	USER opencog
	13	WORKDIR /home/opencog
	14
	15	COPY .tmux.conf /home/opencog/.tmux.conf
	16
	17	# Docker defaults
	18	CMD bash
	19
	20	# For images built on this
	21	ONBUILD USER root

archive/postgres/Dockerfile +22 -0

…	…	@@ -0,0 +1,22 @@
	1	# docker build -t opencog/postgres
	2
	3	FROM postgres:9.5
	4
	5	# TODO: Change to build time argument. See https://github.com/docker/docker/issues/13490
	6	ENV POSTGRES_PASSWORD="cheese"
	7
	8	ADD https://raw.githubusercontent.com/opencog/atomspace/master/opencog/persist/sql/multi-driver/atom.sql /tmp/atom.sql
	9
	10	COPY configure.sh /docker-entrypoint-initdb.d/
	11	COPY start.sh /
	12
	13	RUN chown $(id -u postgres):$(id -g postgres) /tmp/atom.sql \
	14	/docker-entrypoint-initdb.d/configure.sh
	15
	16	# Setup the databases for OpenCog use
	17	ENV PGDATA=/data
	18	RUN /docker-entrypoint.sh postgres
	19
	20	# Start postgres on default without going through the configuration steps.
	21	ENTRYPOINT ["/start.sh"]
	22	CMD ["postgres"]

archive/postgres/README.md +5 -0

…	…	@@ -0,0 +1,5 @@
	1	Assuming you are on a linux system, and have cloned this repository, if you want to setup postgres on your host using the docker image opencog/postgres,
	2	do the following
	3
	4	1. To start run the script `./run.sh`
	5	2. To stop run `./stop.sh`

archive/postgres/configure.sh +41 -0

…	…	@@ -0,0 +1,41 @@
	1	#!/bin/bash
	2	#
	3	# This is a configuration script for opencog that is to be run within
	4	# the opencog container(i.e. the container that runs opencog). The
	5	# environment varaible OPENCOG_SOURCE_DIR should be set for this to
	6	# work; if you are using docker-compose, it is set for you. You might
	7	# have to wait for a few seconds until the postgres starts before
	8	# running the script. Once run you are set.
	9
	10	# For Standard Use
	11	## After setup for accessing the database run
	12	## psql -h db -U opencog_user -d mycogdata
	13	printf "___ Configuring for standard OpenCog use ___\n"
	14
	15	psql -U postgres -c \
	16	"CREATE USER opencog_user WITH SUPERUSER PASSWORD '$POSTGRES_PASSWORD'"
	17	psql -U postgres -c "CREATE DATABASE mycogdata OWNER opencog_user"
	18
	19	printf "___ Create the database tables for standard OpenCog use ___\n"
	20	psql -U opencog_user -d mycogdata -a -f /tmp/atom.sql
	21
	22	# For Unit testing
	23	printf "\n___ Configuring for OpenCog unit testing ___\n"
	24	psql -U postgres -c \
	25	"CREATE USER opencog_tester WITH SUPERUSER PASSWORD '$POSTGRES_PASSWORD'"
	26	psql -U postgres -c "CREATE DATABASE opencog_test OWNER opencog_tester"
	27
	28	## 'cheese' is the password for the next step
	29	printf "\n___ Create the database tables for OpenCog unit testing ___\n"
	30	psql -U opencog_tester -d opencog_test -a -f /tmp/atom.sql
	31
	32	# Continue the running of docker-entrypoint.sh after configuration.
	33	# NOTE: Copy pasted from docker-entrypoint.sh
	34	PGUSER="${PGUSER:-postgres}" pg_ctl -D "$PGDATA" -m fast -w stop
	35
	36	echo
	37	echo 'PostgreSQL init process complete; ready for start up.'
	38	echo
	39
	40	# Exit from process as we don't want to start the server.
	41	exit 0

archive/postgres/run.sh +20 -0

…	…	@@ -0,0 +1,20 @@
	1	#!/bin/bash
	2
	3	cp ../base/scripts/odbc-localhost.ini ~/.odbc.ini
	4
	5	STARTED="FALSE"
	6
	7	for i in $(docker ps -a --format={{.Names}}); do
	8	if [ $i == "opencog-postgres" ]; then
	9	echo "Starting container opencog-postgres"
	10	docker start opencog-postgres
	11	STARTED="TRUE"
	12	echo "Started container opencog-postgres"
	13	fi
	14	done
	15
	16	if [ $STARTED == "FALSE" ]; then
	17	echo "Starting container opencog-postgres"
	18	docker run -d --name opencog-postgres -e PROD="True" -p 5432:5432 opencog/postgres
	19	echo "Started container opencog-postgres"
	20	fi

archive/postgres/start.sh +64 -0

…	…	@@ -0,0 +1,64 @@
	1	#!/bin/bash
	2	#
	3	# NOTE:
	4	# 1. This script is used as an entrypoint and is created to make host dependent
	5	# configurations easier.
	6	# 2. It implements the tweaks suggested @
	7	# github.com/opencog/atomspace/tree/master/opencog/persist/sql#performance-tweaks
	8
	9	set -e
	10
	11	# This is used to modify the postgres configuration before starting the
	12	# server.
	13	#
	14	# $1 = configuration_parameter
	15	# $2 = value for setting the parameter
	16	alter_pg() {
	17	echo "Setting $1 configuration parameter to $2"
	18	psql -U postgres -c "ALTER SYSTEM SET $1 = '$2'"
	19	}
	20
	21	# Returns a value reprsenting the percentage of ram in megabytes.
	22	# $1 = percent of ram. For e.g. 25 for 25%
	23	ram_percent() {
	24	local RAM_SIZE=$(grep MemTotal /proc/meminfo | awk '{print $2}')
	25	local RAM_MULTIPLE=$(($RAM_SIZE * $1))
	26	local RAM_PERCENT="$(($RAM_MULTIPLE / 100000))MB"
	27	echo "$RAM_PERCENT"
	28	}
	29
	30	if [ "$1" = "postgres" ]; then
	31	# Perform host specific configurations. The environment variable `PROD` is
	32	# used to switch between development and deployment environments.
	33	if [ "True" == "$PROD" ]; then
	34	# Start server
	35	echo "setting"
	36	gosu postgres pg_ctl -D "$PGDATA" \
	37	-o "-c listen_addresses='localhost'" \
	38	-w start
	39
	40	# Do the configurations
	41	echo "Starting the runtime configurations"
	42	alter_pg shared_buffers $(ram_percent 25)
	43	alter_pg work_mem 32MB
	44	alter_pg effective_cache_size $(ram_percent 50)
	45	alter_pg synchronous_commit off
	46	# In 9.5 wal_buffers is auto-calcuated as 1/32 of shared_buffers
	47	# In 9.5 checkpoint_segments doesn't exist
	48	alter_pg max_connections 130
	49	alter_pg max_worker_processes 32
	50	alter_pg checkpoint_timeout 1h
	51	alter_pg max_wal_size 8GB
	52	alter_pg checkpoint_completion_target 0.9
	53	alter_pg ssl off
	54
	55	# Stop the server for a restart for changes to take effect.
	56	gosu postgres pg_ctl -D "$PGDATA" -m fast -w stop
	57	fi
	58
	59	# Start the server
	60	gosu postgres postgres
	61
	62	else
	63	exec "$@"
	64	fi

archive/postgres/stop.sh +6 -0

…	…	@@ -0,0 +1,6 @@
	1	#!/bin/bash
	2
	3	set -e
	4	echo "Stopping container opencog-postgres"
	5	docker stop opencog-postgres
	6	echo "Stopped container opencog-postgres"

archive/relex.yml +14 -0

…	…	@@ -0,0 +1,14 @@
	1	# Usage: Follow the steps in the README file in the directory containing this file
	2
	3	relex:
	4	image: opencog/relex
	5	ports:
	6	- "4444:4444"
	7	- "9000:9000"
	8	- "3333:3333"
	9	working_dir: /relex
	10	volumes:
	11	- $RELEX_SOURCE_DIR:/relex
	12	- $HOME/.gitconfig:/home/opencog/.gitconfig # for git commits,stash ...
	13	- /etc/localtime:/etc/localtime:ro # for syncing with host time.
	14	command: bash

archive/relex/Dockerfile +95 -0

…	…	@@ -0,0 +1,95 @@
	1	#
	2	# Docker file that builds RelEx and starts the RelEx server.
	3	#
	4	# To build:
	5	# docker build -t relex/relex .
	6	#
	7	# To start:
	8	# docker run -p 3333:3333 relex/relex /bin/sh plain-text-server.sh
	9	#
	10	# Or alternately, this:
	11	# docker run -p 4444:4444 relex/relex /bin/sh opencog-server.sh
	12	#
	13	# docker run -p 9000:9000 relex/relex /bin/sh link-grammar-server.sh
	14	#
	15	# To demo:
	16	# telnet localhost 4444
	17	# This is a test sentence!
	18	#
	19	# That is, after connecting by telnet, type in any sentence, ending
	20	# with a period, and hit enter. The response returned will be the
	21	# parse of the sentence, in opencog scheme format.
	22	#
	23	FROM ubuntu:latest
	24
	25	# Avoid triggering apt-get dialogs (which may lead to errors). See:
	26	# https://stackoverflow.com/questions/25019183/docker-java7-install-fail
	27	ENV DEBIAN_FRONTEND noninteractive
	28
	29	ENV JAVA_HOME /usr/lib/jvm/java-1.11.0-openjdk-amd64
	30
	31	RUN apt-get update ; apt-get -y upgrade ; apt-get -y autoclean
	32
	33	# Java and basic build tools
	34	RUN apt-get -y install maven screen telnet netcat-openbsd byobu \
	35	wget vim git unzip sudo apt-utils openjdk-11-jdk gcc g++ make m4 \
	36	autoconf-archive libtool swig flex pkg-config ant libpcre2-dev
	37
	38	# Wordnet
	39	RUN apt-get -y install wordnet wordnet-dev wordnet-sense-index
	40
	41	# There are UTF8 chars in the Java sources, and the RelEx build will
	42	# break if build in a C environment.
	43	RUN apt-get -y install locales && locale-gen en_US.UTF-8
	44	ENV LANG en_US.UTF-8
	45	ENV LANGUAGE en_US:en
	46	ENV LC_ALL en_US.UTF-8
	47
	48	RUN mkdir /usr/local/share/java
	49
	50	WORKDIR /home/Downloads/
	51
	52	# JWNL - Never changes, so do this first.
	53	RUN wget https://downloads.sourceforge.net/project/jwordnet/jwnl/JWNL%201.4/jwnl14-rc2.zip \
	54	&& unzip jwnl14-rc2.zip; cd jwnl14-rc2; \
	55	cp jwnl.jar /usr/local/share/java/; \
	56	chmod 755 /usr/local/share/java/jwnl.jar; \
	57	cd ..; rm -rf jwnl*
	58
	59	# OpenNLP - Never changes, so do this first.
	60	RUN wget https://archive.apache.org/dist/opennlp/opennlp-1.5.3/apache-opennlp-1.5.3-bin.tar.gz \
	61	&& tar -zxf apache-opennlp-1.5.3-bin.tar.gz ;\
	62	cd apache-opennlp-1.5.3; \
	63	cp lib/*.jar /usr/local/share/java/; \
	64	cp lib/*.jar /usr/share/java/; \
	65	cp lib/opennlp-tools-1.5.3.jar /usr/local/share/java/opennlp-tools-1.5.0.jar; \
	66	cd .. ; rm -rf apache-opennlp*
	67
	68	# Link Parser -- changes often
	69	# Download the current released version of link-grammar.
	70	ADD https://raw.githubusercontent.com/opencog/ocpkg/master/ocpkg \
	71	/tmp/octool
	72	RUN chmod 755 /tmp/octool; sync; /tmp/octool -l java
	73
	74	# Relex -- changes often
	75	ADD https://github.com/opencog/relex/archive/master.tar.gz master.tar.gz
	76	RUN tar -xvf master.tar.gz; cd relex-master; mvn install
	77
	78	# Create and switch user. The user is privileged, with no password
	79	# required. That is, you can use sudo.
	80	RUN adduser --disabled-password --gecos "ReLex USER" relex
	81	RUN adduser relex sudo
	82	RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
	83	USER relex
	84
	85	RUN sudo chown -R relex:relex .
	86	# Punch out ports
	87	## plain-text-server.sh port
	88	EXPOSE 3333
	89	## opencog-server.sh port
	90	EXPOSE 4444
	91	## link-grammar-server.sh port
	92	EXPOSE 9000
	93
	94	WORKDIR /home/Downloads/relex-master/
	95	CMD /bin/bash

archive/relex/build.sh +5 -0

…	…	@@ -0,0 +1,5 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for relex
	4	#
	5	docker build -t opencog/relex .

archive/relex/run-link-grammar.sh +9 -0

…	…	@@ -0,0 +1,9 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh relex-link-grammar
	6	docker run --rm --name="relex-link-grammar" -p 9000:9000 \
	7	-w /home/Downloads/relex-master opencog/relex /bin/sh link-grammar-server.sh
	8
	9	clear

archive/relex/run-opencog-relex.sh +9 -0

…	…	@@ -0,0 +1,9 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh relex-opencog
	6	docker run --rm --name="relex-opencog" -p 4444:4444 \
	7	-w /home/Downloads/relex-master opencog/relex /bin/sh opencog-server.sh
	8
	9	clear

archive/relex/run-plain.sh +9 -0

…	…	@@ -0,0 +1,9 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh relex-plain
	6	docker run --rm --name="relex-plain" -p 3333:3333 \
	7	-w /home/Downloads/relex-master opencog/relex /bin/sh plain-text-server.sh
	8
	9	clear

archive/relex/stop.sh +18 -0

…	…	@@ -0,0 +1,18 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	NAME=$1
	6	if test x"$1" == x; then
	7	NAME=relex
	8	fi
	9	TAINER=`docker ps |grep $NAME |cut -f1 -d" "`
	10	if test x"$TAINER" != x; then
	11	echo -n 'Stopping leftover container.. '
	12	docker stop -t 1 $TAINER
	13	fi
	14	TAINER=`docker ps -a |grep $NAME |cut -f1 -d" "`
	15	if test x"$TAINER" != x; then
	16	echo -n 'Removing.. '
	17	docker rm $TAINER
	18	fi

archive/tools/cli/Dockerfile +33 -0

…	…	@@ -0,0 +1,33 @@
	1	# For creating images with non gui tools for development and dependencies installed
	2	# Steps:
	3	# 1. docker build -t opencog/opencog-dev:cli .
	4	# 2. docker create --name opencog -p 17001:17001 -p 5000:5000
	5	# -v /ABSOLUTE/PATH/TO/OPENCOG/ROOT/DIRECTORY/On/Your/PC/:/opencog
	6	# -w /opencog
	7	# -it opencog/opencog-dev:cli
	8	# 3. docker start -i opencog
	9	# 4. mkdir build
	10	# 5. cmake ..
	11	# 6. make -j$(nproc)
	12	# Check http://wiki.opencog.org/w/Building_OpenCog on how to use IDEs
	13
	14	FROM opencog/atomspace:latest
	15
	16	# Download data and install opencog.
	17	RUN /tmp/octool -ow && ccache -C
	18
	19	# Install tools for developers.
	20	RUN apt-get -y install python3-dbg man valgrind gdb
	21
	22	USER opencog
	23	WORKDIR /home/opencog
	24
	25	# Setup the workspace for developers
	26	## Dont't mount host volumes to opencog's home directory inside the container,
	27	## if you do you will not find the contents copied below
	28	COPY /scripts/ /home/opencog
	29	RUN sudo chown -R opencog:opencog .[a-z]*
	30
	31	CMD /bin/bash
	32
	33	ONBUILD USER root

archive/tools/cli/scripts/.tmux.conf +6 -0

…	…	@@ -0,0 +1,6 @@
	1	# This configuration file is kept to avoid duplicating it
	2	# in multiple direcories that may use it, even-though the
	3	# base image doesn't have tmux.
	4
	5	# Enable mouse mode
	6	set -g mouse on

archive/tools/distcc/Dockerfile +20 -0

…	…	@@ -0,0 +1,20 @@
	1	# For use with Docker https://www.docker.io/gettingstarted/
	2	#
	3	# docker build -t $USER/opencog-distcc .
	4	# docker run -d -p 3632:3632 $USER/opencog-distcc
	5
	6	FROM opencog/opencog-deps
	7	MAINTAINER David Hart "dhart@opencog.org"
	8
	9	RUN apt-get -y update && \
	10	apt-get -y install distcc
	11
	12	# startdtiscc ignored since we're manually starting in non-daemon mode
	13	RUN sed -i s:STARTDISTCC="false":STARTDISTCC="true":g /etc/default/distcc
	14	RUN sed -i s:ALLOWEDNETS="127.0.0.1/24":ALLOWEDNETS="158.132.58.0/24":g /etc/default/distcc
	15	RUN sed -i s:LISTENER="127.0.0.1":LISTENER="0.0.0.0":g /etc/default/distcc
	16	RUN sed -i s:NICE="10":NICE="10":g /etc/default/distcc
	17	RUN sed -i s:JOBS="":JOBS="8":g /etc/default/distcc
	18	RUN sed -i s:ZEROCONF="false":ZEROCONF="true":g /etc/default/distcc
	19
	20	CMD /usr/bin/distccd --allow 158.132.58.0/24 ; sleep infinity

archive/tools/ide/Dockerfile +21 -0

…	…	@@ -0,0 +1,21 @@
	1	# For creating images with gui tools for development, and dependencies installed
	2	# Steps:
	3	# 1. docker build -t opencog/opencog-dev:qtcreator .
	4	# 2. docker create --name opencog -p 17001:17001 -p 18080:18080 -p 5000:5000
	5	# -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix/:ro -it
	6	# -w /opencog
	7	# -it opencog/opencog-dev:qtcreator
	8	# 3. docker start -i opencog
	9	# 4. qtcreator
	10	# Check http://wiki.opencog.org/w/Using_QT_Creator on how to use qtcreator.
	11
	12	FROM opencog/opencog-dev:cli
	13
	14	# Tools
	15	RUN apt-get -y install git-gui meld qtcreator
	16
	17	# Workspace configuration
	18	COPY qtcreator-startup-script.sh /home/opencog/
	19	RUN chown opencog:opencog /home/opencog/qtcreator-startup-script.sh
	20	USER opencog
	21	CMD /home/opencog/qtcreator-startup-script.sh

archive/tools/ide/qtcreator-startup-script.sh +13 -0

…	…	@@ -0,0 +1,13 @@
	1	#! /bin/bash
	2	#
	3	# This script is the container entry script used to setup cli
	4	# interface and trigger qtcreator.
	5
	6	tmux new-session -d -n "opencog-development";
	7	echo evaluating startup script... ;\
	8	tmux set-option -g set-remain-on-exit on ;\
	9	tmux bind-key R respawn-window ;\
	10	tmux split-window -d -v -p 25 ;\
	11	tmux send -t 1 qtcreator
	12	tmux send -t 1 Enter
	13	tmux attach

archive/tools/jupyter_notebook/Dockerfile +36 -0

…	…	@@ -0,0 +1,36 @@
	1	# For interacting with jupter notebooks. This installs a kernel for python and guile.
	2
	3	# Build from opencog-dev:cli as it has all packages it needs.
	4	FROM opencog/opencog-dev:cli
	5
	6	RUN apt-get update --fix-missing && apt-get install -y bzip2 \
	7	libglib2.0-0 libxext6 libsm6 libxrender1 \
	8	mercurial subversion python3-pip
	9
	10	# To install jupyter notebook alongside with kernel on default python3 for later usage
	11	# torando must be at this specific version from https://github.com/jupyter/notebook/issues/3407
	12	RUN python3 -m pip install jupyter ipykernel tornado==4.5.3
	13
	14	# Install guile-json as it is needed for guile-kernel
	15	WORKDIR /opt/
	16
	17	RUN wget https://download.savannah.gnu.org/releases/guile-json/guile-json-0.6.0.tar.gz && \
	18	tar xvf guile-json-0.6.0.tar.gz && \
	19	rm guile-json-0.6.0.tar.gz && \
	20	cd guile-json-0.6.0 && \
	21	./configure && \
	22	make install
	23
	24	# ZMQ library to enable communication with jupyter notebook
	25	RUN wget https://raw.githubusercontent.com/jerry40/guile-simple-zmq/master/src/simple-zmq.scm -O /usr/local/share/guile/site/simple-zmq.scm
	26
	27	# Create a directory with the guile kernel in jupyter notebook kernels directory
	28	WORKDIR /usr/local/share/jupyter/kernels
	29
	30	RUN git clone --depth 1 https://github.com/jerry40/guile-kernel
	31	# Copy kernel description to the above folder
	32	COPY kernel.json /usr/local/share/jupyter/kernels/guile-kernel
	33
	34	EXPOSE 8888
	35	USER opencog
	36	CMD [ "jupyter", "notebook", "--ip=0.0.0.0", "--port=8888" ]

archive/tools/jupyter_notebook/kernel.json +5 -0

…	…	@@ -0,0 +1,5 @@
	1	{
	2	"argv": ["guile", "-s", "/usr/local/share/jupyter/kernels/guile-kernel/src/guile-jupyter-kernel.scm", "--", "{connection_file}"],
	3	"display_name": "Guile",
	4	"language": "scheme"
	5	}

archive/windows-run.sh +58 -0

…	…	@@ -0,0 +1,58 @@
	1	#!/bin/bash
	2	#
	3	# This does what docker-compose does until docker-compose support for windows
	4	# imporves. Ofcourse it can be used instead of docker-compose on unix systems
	5
	6	# TODO: move all this to octool
	7
	8	# Environment variable used by the commands edit them to suite your
	9	export OPENCOG_SOURCE_DIR=$HOME/path/to/opencog
	10	export RELEX_SOURCE_DIR=$HOME/path/to/relex
	11	export ATOMSPACE_SOURCE_DIR=$HOME/path/to/atomspace
	12	export COGUTIL_SOURCE_DIR=$HOME/path/to/cogutil
	13	export MOSES_SOURCE_DIR=$HOME/path/to/moses
	14
	15	# NOTE: Error outputs during creation are silenced b/c this script is a
	16	# temporary hack :-D
	17	docker create --name postgres opencog/postgres &> /dev/null
	18
	19	docker create \
	20	--name relex \
	21	-v "$RELEX_SOURCE_DIR:/relex" \
	22	-p "4444:4444" \
	23	-p "9000:9000" \
	24	-p "3333:3333" \
	25	-w /relex \
	26	-it opencog/relex /bin/sh -c "ant clean && ant && ./opencog-server.sh" &> /dev/null
	27
	28	docker create \
	29	--name opencog_dev \
	30	-v "$OPENCOG_SOURCE_DIR:/opencog" \
	31	-v "$RELEX_SOURCE_DIR:/relex" \
	32	-v "$ATOMSPACE_SOURCE_DIR:/atomspace" \
	33	-v "$COGUTIL_SOURCE_DIR:/cogutil" \
	34	-v "$MOSES_SOURCE_DIR:/moses" \
	35	-e PYTHONPATH=/usr/local/share/opencog/python:/opencog/opencog/python/:/opencog/build/opencog/cython:/opencog/opencog/nlp/anaphora \
	36	-e OPENCOG_SOURCE_DIR=/opencog \
	37	-e PGHOST=db \
	38	-e PGUSER=opencog_user \
	39	-p "5000:5000" \
	40	-p "17001:17001" \
	41	-p "18001:18001" \
	42	-p "8080:8080" \
	43	-w /opencog \
	44	--link postgres:db \
	45	--link relex:relex \
	46	-it opencog/opencog-dev:cli &> /dev/null
	47
	48	# Keep the order of the start
	49	echo "Starting postgres and relex"
	50	docker start relex postgres
	51	echo "Starting opencog_dev in 10 seconds"
	52	sleep 10
	53	docker start -i opencog_dev
	54
	55	# Cleanup on exit from opencog_dev
	56	echo "Stopping postgres and relex"
	57	docker stop relex postgres
	58	echo "If you want to remove the containers run 'docker rm postgres relex'"

hydro/Dockerfile +29 -0

…	…	@@ -0,0 +1,29 @@
	1	# docker build -t opencog/ros-hydro-deps .
	2	# xhost +
	3	# docker run -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -i -t opencog/ros-hydro-deps /bin/bash
	4	# docker run -t -i --rm --privileged -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /home/mandeep/sharedFolder:/tmp/shared -v /dev/video0:/dev/video0 mandeep/ros-hydro-deps /bin/bash
	5	# xhost + is stupid and dangerous, so please run 'xhost -' after launching apps
	6	# camorama -d /dev/video0
	7	# docker export opencog/ros-hydro | gzip -c > /media/lenovo_mandeep/ros-hydro-deps.tgz
	8	# docker import opencog/ros-hydro < /media/lenovo_mandeep/ros-hydro.tgz
	9	# echo 'DOCKER_OPTS="-H tcp://0.0.0.0:4243 -H unix:///var/run/docker.sock"' \
	10	# | sudo tee -a /etc/default/docker
	11
	12	FROM ubuntu:12.04
	13	MAINTAINER Mandeep Singh Bhatia "mandeep.singh.bhatia@gmail.com"
	14	MAINTAINER David Hart "dhart@opencog.org"
	15
	16	RUN apt-get -y update
	17	RUN apt-get -y install python-software-properties wget screen
	18	RUN wget http://packages.ros.org/ros.key -O - | apt-key add -
	19	RUN echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list
	20	RUN apt-get -y update
	21	RUN apt-get -y install ros-hydro-ros-base ros-hydro-rqt-common-plugins
	22	RUN apt-get -y install ros-hydro-robot ros-hydro-viz
	23	RUN apt-get -y install ros-hydro-mobile ros-hydro-perception ros-hydro-simulators
	24
	25	RUN rosdep init
	26	RUN rosdep update
	27	RUN echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc
	28	ENV DISPLAY 0:0
	29	CMD /bin/bash

hydro/README.md +11 -0

…	…	@@ -0,0 +1,11 @@
	1	# ROS Hydro release
	2
	3	Older ROS Hydro packages.
	4	Include full container for the Zeno robot.
	5
	6	### Docker image structure:
	7
	8	├─ros-hydro-deps
	9	├─ros-hydro-dev
	10	├─ros-hydro-openni
	11	├─ros-hydro-percept

hydro/dev/Dockerfile +16 -0

…	…	@@ -0,0 +1,16 @@
	1	# docker build -t opencog/ros-hydro-dev .
	2	# xhost +
	3	# docker run -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -i -t opencog/ros-hydro-dev /bin/bash
	4	# docker run -t -i --rm --privileged -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /home/mandeep/sharedFolder:/tmp/shared -v /dev/video0:/dev/video0 mandeep/ros-hydro-dev /bin/bash
	5
	6	FROM opencog/ros-hydro-deps
	7	MAINTAINER Mandeep Singh Bhatia "mandeep.singh.bhatia@gmail.com"
	8	MAINTAINER David Hart "dhart@opencog.org"
	9
	10	RUN apt-get -y update
	11	RUN apt-get -y install camorama geany
	12	RUN apt-get -y install cmake-curses-gui git mercurial subversion
	13	RUN apt-get -y install ros-hydro-gscam
	14	RUN apt-get -y install less meld vim-gnome
	15
	16	CMD /bin/bash

hydro/openni/Dockerfile +29 -0

…	…	@@ -0,0 +1,29 @@
	1	# docker build -t opencog/ros-hydro-openni .
	2	# xhost +
	3	# docker run -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -i -t opencog/ros-hydro-openni /bin/bash
	4	# docker run -t -i --rm --privileged -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /home/mandeep/sharedFolder:/tmp/shared -v /dev/video0:/dev/video0 mandeep/ros-hydro-openni /bin/bash
	5	# from https://github.com/OpenNI/OpenNI
	6
	7	FROM opencog/ros-hydro-dev
	8	MAINTAINER Mandeep Singh Bhatia "mandeep.singh.bhatia@gmail.com"
	9	MAINTAINER David Hart "dhart@opencog.org"
	10
	11	RUN apt-get -y update
	12	RUN apt-get -y install g++ python libusb-1.0-0-dev freeglut3-dev openjdk-7-jdk
	13	RUN apt-get -y install unzip
	14
	15	ADD https://github.com/OpenNI/OpenNI/archive/master.zip /OpenNI.zip
	16	RUN unzip /OpenNI.zip
	17
	18	#RedistMaker needs doxygen or it fails. dum dumb dumb dumb.
	19	#WORKDIR /OpenNI-master/Platform/Linux/CreateRedist
	20	#RUN ./RedistMaker
	21
	22	#WORKDIR /OpenNI-master/Platform/Linux/Redist
	23	#RUN ./install.sh
	24
	25	WORKDIR /OpenNI-master/Platform/Linux/Build
	26	RUN make
	27	RUN make install
	28
	29	CMD /bin/bash

hydro/percept/Dockerfile +21 -0

…	…	@@ -0,0 +1,21 @@
	1	# docker build -t opencog/ros-hydro-percept .
	2	# xhost +
	3	# docker run -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -i -t opencog/ros-hydro-percept /bin/bash
	4	# docker run -t -i --rm --privileged -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /home/mandeep/sharedFolder:/tmp/shared -v /dev/video0:/dev/video0 mandeep/ros-hydro-percept /bin/bash
	5	# from https://github.com/OpenNI/OpenNI
	6
	7	FROM opencog/ros-hydro-openni
	8	MAINTAINER Mandeep Singh Bhatia "mandeep.singh.bhatia@gmail.com"
	9	MAINTAINER David Hart "dhart@opencog.org"
	10
	11	# RUN apt-get -y update
	12
	13	ADD https://github.com/hansonrobotics/perception_synthesizer/archive/master.zip /perception_synthesizer.zip
	14	RUN unzip /perception_synthesizer.zip
	15
	16	WORKDIR /perception_synthesizer-master/build
	17	RUN cmake ..
	18	RUN make
	19	RUN make install
	20
	21	CMD /bin/bash

hydro/zenorsm/Dockerfile +150 -0

…	…	@@ -0,0 +1,150 @@
	1	# docker build -t opencog/ros-hydro-zenorsm .
	2	# xhost +
	3	# docker run --rm --privileged -i -v /dev/ttyACM0:/dev/ttyACM0 -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri -v /dev/shm:/dev/shm -v /dev/video0:/dev/video0 -v /dev/video1:/dev/video1 -e DISPLAY=:0.0 -p 33433:33433/udp -t opencog/ros-hydro-zenorsm
	4	# Note: port 33433=faceshift, /dev/ttyACM0=pololu, /dev/dri=gpu, /dev/shm=gpu
	5	# ToDo: add MORSE robot simulator
	6	# replace faceshift with OpenCV FaceRecognizer, etc.
	7
	8	FROM opencog/ros-hydro-dev
	9	MAINTAINER Mandeep Singh Bhatia "mandeep.singh.bhatia@gmail.com"
	10	MAINTAINER David Hart "dhart@opencog.org"
	11
	12	RUN apt-get -y update
	13	# Crap, didn't notice that it's installing blender...I think this can be removed? - AvdP
	14	RUN apt-get -y install blender
	15
	16	RUN apt-get -y install python3-yaml
	17	RUN apt-get -y install python3-setuptools
	18	RUN easy_install3 pip
	19	RUN pip3 install rospkg catkin_pkg
	20
	21	RUN echo source /opt/ros/hydro/setup.bash >> /.bash_profile && \
	22	echo -e "\e[1;34m[$SELF_NAME] catkin devel setup\.bash sourced\e[0m"
	23
	24	# Install ITFTalk and prerequisites
	25	WORKDIR /catkin_ws/src
	26	RUN apt-get -y install mplayer python-pycurl libcurl3
	27	RUN git clone https://github.com/Alex-van-der-Peet/ITFTalk
	28
	29	# Install ITFListen and prerequisites
	30	WORKDIR /catkin_ws/src
	31	RUN apt-get -y install sox python-simplejson
	32	RUN git clone https://github.com/Alex-van-der-Peet/ITFListen
	33
	34	# Install ITFParrot to test ITFListen -> ITFTalk
	35	WORKDIR /catkin_ws/src
	36	RUN git clone https://github.com/Alex-van-der-Peet/ITFParrot
	37
	38	# I figured it'd be undesirable to auto-start the parrot, so
	39	# to Run ITFParrot, go to /catkin_ws and then run:
	40	# source devel/setup.bash
	41	# rosrlaunch itf_parrot itf_parrot.launch
	42
	43	# Install openEAR prerequisites
	44	RUN apt-get -y install autoconf libtool g++ libportaudio2
	45
	46	# Download ROS-enabled version of openEAR
	47	# WORKDIR /
	48	# Line below is needed otherwise it keeps saying ros_open_ear exists
	49	# and is not empty
	50	# RUN rm -rf /ros_open_ear
	51	# RUN git clone https://github.com/Alex-van-der-Peet/ros_open_ear
	52
	53	# Unpack, make and install portaudio (openEAR prerequisite)
	54	# WORKDIR /ros_open_ear/thirdparty
	55	# RUN tar -xvf portaudio.tgz
	56	# WORKDIR /ros_open_ear/thirdparty/portaudio
	57	# RUN ./configure
	58	# RUN make
	59	# RUN make install
	60
	61	# Configure, build and install the modified version of openEAR
	62	# WORKDIR /ros_open_ear
	63	# Double run below is on purpose
	64	#### ENV C_INCLUDE_PATH /opt/ros/hydro/include/ros:/opt/ros/hydro/include
	65	# RUN ./autogen.sh
	66	# RUN ./autogen.sh
	67	# RUN ./configure
	68	# RUN apt-get install libc6-dev build-essential
	69	# RUN echo "C_INCLUDEPATH=$C_INCLUDE_PATH"
	70	# RUN make
	71	# RUN make install
	72
	73	WORKDIR /catkin_ws/src
	74	RUN cp /opt/ros/hydro/setup.sh /etc/profile.d/ros_hydro.sh
	75	ENV PYTHONPATH /opt/ros/hydro/lib/python2.7/dist-packages
	76	RUN /usr/bin/python3 /opt/ros/hydro/bin/catkin_init_workspace
	77
	78	#Download and install DepthSenseSDK
	79	WORKDIR /Downloads
	80	ADD http://buildbot.opencog.org/hidden/DepthSenseSDK-1.4.3-1527-amd64.deb /Downloads/DepthSenseSDK-1.4.3-1527-amd64.deb
	81	RUN dpkg -i DepthSenseSDK-1.4.3-1527-amd64.deb
	82
	83	WORKDIR /catkin_ws/src
	84
	85	# The steps below clone ROS packages, but since the Gizmo runs out of memory we have to build
	86	# intermediately every few packages
	87	RUN git clone https://github.com/hansonrobotics/robo_blender
	88	RUN git clone https://github.com/yantrabuddhi/ros_pololu_servo
	89	WORKDIR /catkin_ws
	90
	91	RUN bash -l -c "source /opt/ros/hydro/setup.bash; /usr/bin/python3 /opt/ros/hydro/bin/catkin_make"
	92
	93	WORKDIR /catkin_ws/src
	94
	95	# RUN git clone https://github.com/yantrabuddhi/ros_nmpt_saliency
	96	# Mandeep's saliency tracker above doesn't work, so I'm using the one I made
	97	# which is stored in Jamie's repo - Alex
	98	#RUN git clone https://github.com/jdddog/ros_nmpt_saliency
	99	RUN git clone https://github.com/yantrabuddhi/ros_faceshift
	100	RUN git clone https://github.com/yantrabuddhi/simple_face_tracker
	101
	102	WORKDIR /catkin_ws
	103
	104	RUN bash -l -c "source /opt/ros/hydro/setup.bash; /usr/bin/python3 /opt/ros/hydro/bin/catkin_make"
	105
	106	WORKDIR /catkin_ws/src
	107
	108	# Octomap breaks catkin_build, hence disabled:
	109	#RUN git clone https://github.com/OctoMap/octomap
	110	#RUN git clone https://github.com/Alex-van-der-Peet/ITFOpenEar
	111	# Jamie's repo doesn't work, so taking the source repo of his fork
	112	#RUN git clone https://github.com/jdddog/softkinetic
	113	RUN git clone https://github.com/ipa320/softkinetic
	114
	115	WORKDIR /catkin_ws
	116
	117	RUN bash -l -c "source /opt/ros/hydro/setup.bash; /usr/bin/python3 /opt/ros/hydro/bin/catkin_make"
	118
	119	WORKDIR /catkin_ws/src
	120
	121	WORKDIR /catkin_ws
	122	#RUN bash -l -c "source /opt/ros/hydro/setup.bash; /usr/bin/python3 /opt/ros/hydro/bin/catkin_make"
	123	# RUN /opt/ros/hydro/bin/catkin_make
	124
	125	WORKDIR /catkin_ws
	126
	127	RUN apt-get -y install ros-hydro-cv-camera
	128
	129	ENV STARTSCRIPT "\
	130	echo evaluating startup script... &&\
	131	source /catkin_ws/devel/setup.bash &&\
	132	tmux new-session -d 'echo -e \"\e[1;34mroscore\e[0m\" ; roscore' &&\
	133	tmux set -g set-remain-on-exit on &&\
	134	tmux set-option -g set-remain-on-exit on &&\
	135	tmux bind-key R respawn-window &&\
	136	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mros_pololu_servo\e[0m\" ;\
	137	rosrun ros_pololu_servo ros_pololu_servo_node' &&\
	138	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mblender robo.blend\e[0m\" ;\
	139	sleep 4 && blender robo.blend' &&\
	140	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mbash shell\e[0m\" ;\
	141	bash -l -i' &&\
	142	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mros_itf_talk\e[0m\" ;\
	143	roslaunch itf_talk itf_talk.launch' &&\
	144	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mros_itf_listen\e[0m\" ;\
	145	roslaunch itf_listen itf_listen.launch' &&\
	146	tmux select-layout even-vertical &&\
	147	tmux attach \
	148	"
	149
	150	# CMD /bin/bash -l -c "eval $STARTSCRIPT"

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	1	ROS Indigo + Blender + OpenCog
	2	==============================
	3	Docker files for Hanson Robotics robots and heads. The most
	4	sophisticated of the bunch is Eva, an animated female head, capable
	5	of seeing you (via a webcam), talking to you (via a chatbot), and
	6	engaging you (and your guests) in social interaction. She will
	7	make eye contact, and express her pleasure with smiles and looks
	8	of surprise and happiness.
	9
	10	  
	11
	12	## Hierarchy and dependents
	13
	14	The docker image hierarchy is slightly more complex than it could be.
	15	It has been driven into this state in order to accomodate the conflicting
	16	needs of ROS+Docker. The root cause is discussed further down below.
	17	In short, ROS and Docker have conflicting ideas about how networking
	18	should work; this forces us to install everything into one giant Docker
	19	container. This is not ideal, but it works. See the design discussion
	20	below.
	21
	22	├─ros-indigo-base
	23	├─ros-indigo-opencog
	24	├─ros-incog-blender
	25	├─eva-opencog
	26	├─ros-indigo-blender
	27	├─eva-owyl
	28	├─eva-ros
	29	├─ros-arthur-animation
	30	├─ros-arthur-dev
	31	├─ros-indigo-dev
	32	├─ros-indigo-einstein
	33	├─ros-indigo-zenorsm
	34
	35
	36	* `ros-base` contains a docker image defining only the basic ROS indigo
	37	nodes shared by all robots, and nothing more.
	38
	39	* `ros-opencog` contains a docker image for ROS and OpenCog. Depends
	40	on `ros-base`, above. It does not provide anything beyond a
	41	configured ROS+OpenCog environment.
	42
	43	* `ros-blender` contains a docker image for ROS and blender. Depends
	44	on `ros-base`, above. It does not provide anything beyond a
	45	configured ROS+blender environment.
	46
	47	* `ros-incog-blender` contains a docker image for ROS, opencog and
	48	blender. Depends on `ros-opencog`, above. It does not provide
	49	anything beyond a configured ROS+opencog+blender environment.
	50
	51	* `eva-ros` contains the basic Hanson Robotics Eva blender rig,
	52	together with the ROS nodes needed for vision processing.
	53	Upon startup, it will automatically run the blender rig and the
	54	vision subsystem. However, it is missing the chatbot and the
	55	behavior subsystem; Eva will stare blankly into space and breath,
	56	but do nothing more.
	57
	58	* `eva-owyl` is a a stand-alone demo of the basic Hanson Robotics
	59	Eva blender rig, showing the full range of emotional facial
	60	expressions, ranging from happiness to frustration, excitement
	61	to boredom, as well as gestures such as shakes, nods, blinks and
	62	a keep-alive breathing cycle. It includes basic vision processing
	63	and basic human-face awareness behavior, but without a chatbot or
	64	any OpenCog processing software. This is a stand-alone demo,
	65	without any other dependencies. It is representative of the state
	66	of development of the Hanson Robotics Eva blender rig, as of
	67	May 2015.
	68
	69	* `eva-silent` contains the Eva blender rig, ROS, and OpenCog, but not
	70	the chatbot. Behaviors are executed using an OpenCog-based behavior
	71	tree, very similar to the owyl tree. She can see you, and reacts
	72	to your presence by making eye contact, smiling, and showing general
	73	interest. She reacts to absence by being bored and falling asleep.
	74
	75	* `eva-opencog` contains the Eva blender rig, ROS, OpenCog, chatbot.
	76	This is the whole kit-n-kaboodle. Under development. Sometimes
	77	works, sometimes broken.
	78
	79	## Miscellaneous packages
	80
	81	* `dev`, derived from `base`, contains a docker image for a ROS indigo
	82	development environment.
	83
	84	* `einstein` container for the Hanson Robotics' small Einstein head.
	85	This container was demoed at ROS Kong 2014 by David Hanson.
	86
	87	* `zenorsm` ... Zeno ?? with Einstein head ??
	88
	89	## Unmaintained images
	90	The `arthur-animation` and `arthur-dev` packages are deprecated. They
	91	implement an older animation system that was difficult to work with.
	92	Most importantly, eye-tracking and emotion gestures were not blended
	93	and integrated in an easy-to-use fashion.
	94
	95	* `arthur-animation` contains a demo for the Hanson Robotics Arthur head,
	96	showing how ROS messages can be used to control facial animations.
	97	That is, the blender rig is encapsulated in a ROS node; the rig
	98	reacts to ROS messages.
	99
	100	* `arthur-dev` contains the full end-to-end development environment
	101	for the Hanson Robotics Arthur head. This includes a half-dozen
	102	ROS nodes for camera and vision processing, scripted behavior trees,
	103	motor controllers, and a web-based user interface.
	104
	105	## Building
	106	Most subdirectories contain a `build.sh` script for building the
	107	particular docker image.
	108
	109	Use `build-all.sh` to build the Eva docker image and it's dependents.
	110	This may take an hour or more.
	111
	112	## Running
	113	Most subdirectories contain a pair of scripts: `run.sh` and `stop.sh`.
	114	These will run and stop the containers defined in that directory.
	115
	116	# ROS+Docker Container Design
	117	Building a well-designed system using Docker and ROS is impossible at
	118	this point in time (as of spring 2016). This is because the way that
	119	Docker does networking is in direct conflict with how ROS does
	120	networking. The primary issue is that ROS messages contain port
	121	numbers in them, whereas Docker networking uses proxies to remap ports
	122	between containers. This means that the port numbers in the ROS messages
	123	do not match the actual port numbers being used in the Docker container.
	124	This can be hacked around in various ways, but none of the hacks solve
	125	all of the problems.
	126
	127	The way that Docker does networking is changing (for Swarm), while ROS
	128	will also change, with a completely different messaging system for ROS2.
	129	It will be a while before the dust settles and there's a coherent
	130	networking policy.
	131
	132	In the meantime, there are three reasonable design choices:
	133
	134	* Put OpenCog and ROS in the same Docker container. This is ugly
	135	and unpleasant, and not a reasonable design choice at all, but it's
	136	the one we take, because nothing else works.
	137
	138	* Put Eva blender and vision in one Docker container, (or maybe two
	139	containers, one for blender, and one for vision) and OpenCog in a
	140	third container. This is an ideal design, but cannot be made to work
	141	due to conflicting networking models.
	142
	143	* Put every ROS node into its own container. This would result in a
	144	half-dozen to a dozen or more containers, and becomes a manageability
	145	issue: too many containers to correctly build, set up, monitor, and
	146	run. Might work for some super-admin with superman-cloud-fu, but is
	147	way too complicated for us AI scientists. Also, at this time, it also
	148	won't work, due to design limitations/flaws with Docker+ROS networking.
	149
	150	Below is a discussion and notes about the issues that block the second
	151	and third design points.
	152
	153	Main issue: a ROS publisher inside a Docker container cannot be
	154	subscribed to outside of a Docker container. There are several ways
	155	to set this up and try to hack around it.
	156
	157	## Version A: Default Docker networking.
	158	Start the ROS container in directory `base` using the `./run.sh` command.
	159	Make yourself a tmux session as follows (this is for convenience only):
	160	```
	161	byobu new-session -d -n 'aa' '$SHELL'
	162	tmux new-window -n 'bb' '$SHELL'
	163	tmux new-window -n 'cc' '$SHELL'
	164	tmux new-window -n 'dd' '$SHELL'
	165	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	166	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	167	tmux attach
	168	```
	169	Start `roscore` by hand in one terminal. In another terminal, publish
	170	something:
	171	```
	172	rostopic pub -r 5 /foo std_msgs/String '{data: hallooooo}'
	173	```
	174	In a third terminal, subscribe:
	175	```
	176	rostopic echo /foo
	177	```
	178	Yayy! This works! Can we subscribe to this topic outside of this
	179	container? No, we cannot. Here's how to check. Inside a terminal, say
	180	`ifconfig` and get the IP address of the container. Its will probably be
	181	`172.17.0.2`. Alternately, you can get this number from the outside,
	182	with
	183	```
	184	docker inspect opencog-eva-ros | grep IPAdress
	185	```
	186	We can now attempt to contact ROS from the outside world. First, set
	187	```
	188	export ROS_MASTER_URI=http://172.17.0.2:11311
	189	```
	190	Now, ROS will *almost* work. But not quite. This works:
	191	```
	192	rostopic list
	193	rostopic info /foo
	194	```
	195	This fails (it hangs):
	196	```
	197	rostopic echo /foo
	198	```
	199	The reason that this is broken is because ROS messages themselves contain
	200	tcpip port numbers, and Docker uses a form of port proxying and
	201	firewalling (iptables) that remaps ports. Thus, port numbers inside the
	202	container do not match the port number contained in the message, when
	203	that message is coming from outside the container. This mis-match is at
	204	the root of the hang.
	205
	206	Curiously, the reversed process works: if you publish on the outside,
	207	then you can subscribe on the inside, just fine.
	208
	209	This issue prevents the natural separation between OpenCog and Eva-ROS.
	210	The Eva-ROS container is publishing `/camera/face_locations` and OpenCog
	211	subscribes to that to find out about the location of human faces visible
	212	to Eva. Since the messages never arrive, Eva is blind, and sees
	213	nothing.
	214
	215	## Version B: New Docker networking.
	216	Starting with Docker version 1.9 (the current version in Ubuntu 14.04
	217	trusty LTS), docker introduces a networking overlay. This seems like it
	218	is almost enough to get ROS working in Docker, and there are even some
	219	'famous' highly visible tutorials for this:
	220
	221	* [Official ROS Docker Tutorial](http://wiki.ros.org/docker/Tutorials/Docker)
	222	* [Todd Sampson Blog](http://toddsampson.com/post/131227320927/docker-experimental-networking-and-ros)
	223
	224	However, these tutorials are misleading: Some stuff works, but other,
	225	different stuff breaks, and the original problem remains unsolved. This
	226	can be reproduced as described below. Their success depends on using
	227	Docker networks, and being very very careful -- diligently careful --
	228	about setting ROS environment variables. This makes the whole process
	229	very fragile, and subject to lots of confusion. YMMV.
	230
	231	First, create a Docker network:
	232	```
	233	docker network create boingo
	234	```
	235	Start three ROS containers. One, called the `master`, will contain
	236	`roscore`. The other two will publish and subscribe to each-other.
	237	There are several ways to start these, including the setting of ROS
	238	environment variables during startup. This won't be done for this
	239	example, since it clouds the issue: it confuses what is really
	240	happening. The environment variables can be set by hand, after
	241	startup. Start the containers as follows:
	242	```
	243	docker run --net=boingo --name=master -p 11311:11311 -it opencog/ros-indigo-base
	244	docker run --net=boingo --name=aaa -p 11311:11311 -it opencog/ros-indigo-base
	245	docker run --net=boingo --name=bbb -p 11311:11311 -it opencog/ros-indigo-base
	246	```
	247	Note the `--net=boingo` parameter. This causes Docker to use a different
	248	set of network addresses. It also alters how Docker does port proxying.
	249	Although the proxying is different, the core issue of re-labelling port
	250	numbers remains: the ROS messages still have port numbers in them that
	251	fail to match up with the actual port assignments. Let's plow onwards.
	252
	253	Start `roscore` inside container `master`. Next, inside `aaa`, do this:
	254	```
	255	export ROS_HOSTNAME=aaa
	256	export ROS_MASTER_URI=http://master:11311
	257	rostopic pub -r 5 /bar std_msgs/String '{data: olaaa}'
	258	```
	259	while inside `bbb`, do this:
	260	```
	261	export ROS_HOSTNAME=bbb
	262	export ROS_MASTER_URI=http://master:11311
	263	rostopic echo /bar
	264	```
	265	Yayyy! This works! They can hear each other! This is the sum-total of
	266	the widely-publicized, easy-to-find ROS+Docker tutorials all over the
	267	net. That all is not right heaven is easy to see. Outside of the
	268	containers, `rostopic list` and `rostopic info /bar` works just as
	269	before, and `rostopic echo /bar` still fails, as before. Unlike before,
	270	however, there is now a new failure: go to container `aaa`, and, in a
	271	new tmux terminal, try `rostopic echo /bar` -- it doesn't work!!! This
	272	is a new failure: subscribers can no longer hear publishers living
	273	inside the same container! Be careful to export the `ROS_HOSTNAME`
	274	correctly in the new tmux terminal; failing to do this adds to the
	275	confusion. You may experiment at this point: you won't get lucky,
	276	though, even though it seems like you might, with just one more try.
	277
	278	This new failure mode forces one to a new design point that might seem
	279	reasonable, but is ultimately untenable: one ROS node per container.
	280	This might almost work, although its terribly fragile. Debugging is
	281	hard, because if you're outside a container, you cannot hear what they
	282	are passing around to each-other. Altering the network structure
	283	becomes difficult. Using tools like `rviz` to visualize the ROS network
	284	becomes difficult, because you now have to put `rviz` in it's own Docker
	285	container, and then punch a hole through it to get the graphs to
	286	display on your screen. It devolves from there, and by the time you get
	287	to OpenCog, you've got the cogserver launching one python thread for ROS
	288	messaging, while other threads send scheme over other sockets, while yet
	289	more threads are handling tcpip sockets to IRC, and messages are flying
	290	every-which way. It appears that the Docker philosophy of "one process
	291	per container" is untenable, in any practical sense. Its too hard to
	292	manage, too hard to configure and control. Perhaps Docker Swarm might
	293	one day help with this, but perhaps not: Swarm seems to push the problem
	294	around; it doesn't solve the core issue: ROS messages contain port
	295	numbers, and Docker proxying re-assigns ports. That is the core issue.
	296
	297	## Version B.1: Newer version of Docker??
	298	[It has been reported](https://gist.github.com/ruffsl/4a24c26a1aa2cc733c64)
	299	that perhaps version 1.10 of docker does not have these problems. I
	300	have not yet tried.
	301
	302	## Version C: Desperation.
	303	There are several stunts that one might think could work, but they
	304	don't. A brief report here.
	305
	306	### Remap all the ports
	307	That is, start the Docker container with something like this:
	308	`-p 32768-65536:32768-65536`. *DO NOT EVEN TRY THIS* -- you'll be
	309	sorry if you do. If you do, it will take Docker five minutes to remap
	310	about 2K of these ports, at which point you will wonder what's going
	311	on. What its doing is creating a process `docker-proxy -proto tcp
	312	-host-ip 0.0.0.0 -host-port 60374 -container-ip 172.18.0.2
	313	-container-port 60374` -- one for each port. So `ps ax |grep docker |wc`
	314	will tell you how many its done so far. Problem: you can't stop the
	315	container. You can `kill -9` it, but the proxying keeps going on. We're
	316	in a bad state now, so you can try `service docker stop` which won't
	317	work, so you can `kill -9` it. Which works. However `service docker
	318	start` leaves vast quantities of crap in `iptables`, which you can
	319	clean with `iptables -t nat -F`. However, `service docker start` merely
	320	recreates these bogus filters. So you have to `iptables` while Docker is
	321	running. Which hoses Docker, so you have to stop and restart again.
	322	Anyway, the unclean docker shutdown also left crap in `aufs` -- some
	323	dead docker containers that cannot be `docker rm`'ed. If you are brave,
	324	you can now go into `/var/lib/docker/aufs` and clean up by hand. Or
	325	you can reboot ... Ugh.
	326
	327	### Speaking of iptables...
	328	Several stack-exchange questions deal with using `iptables` to remap
	329	ports between docker containers and the host. If you're naive, you might
	330	hope that that will solve the problem. It won't. The core issue is that
	331	ROS messages contain port numbers in them, and Docker remaps ports. The
	332	only way that masquerading could be don't would be just like
	333	masquerading for FTP: you have to inspect the packets themselves, find
	334	the port number in them, and then re-write the port number. Since some
	335	ROS messages are strings, this can be challenging. Checksums and gzip
	336	add to the mess.
	337
	338	### Use the host network
	339	Start all of the containers with `--net=host`. This will cause Docker
	340	to not use its own private networks, but instead, use the IP address of
	341	the host for all networking. From the Docker point of view, its really
	342	not ideal, its a kind-of-a-hack. From the ROS point of view, you might
	343	expect that everything will now start working, since, after all, there
	344	are no more networking barriers anywhere. Right? Almost!
	345
	346	With this network setting, you can now publish, with `rostopic pub`
	347	inside the container, and subscribe, with `rostopic echo` on the
	348	outside, and this now works. The toy example works! At last! Woot!
	349
	350	Unfortunately, that's all that works. The real-life ROS nodes inside the
	351	ros-eva container are publishing messages that still cannot be heard
	352	outside of the container: specifically, `rostopic echo /camera/face_locations`
	353	fails. You might think that it should work. It doesn't. I don't
	354	understand why it doesn't, when the toy examples do work. Clearly,
	355	there's yet more to ROS networking, and the Docker `--net=host` is not
	356	enough to make things transparent.
	357
	358	## Version D: Hard reality
	359	The misery documented above points us in only one direction. Its not a
	360	pretty one... its not `docker compose` and its conceptually icky and
	361	not a good software design. However, its the only solution that works:
	362	Stick all of OpenCog (specifically, the CogServer) into the same Docker
	363	container with ROS. That will be one giant bloated container. But
	364	that's what the school of hard knocks teaches you.

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	1	#
	2	# Container for the Hanson Robotics Arthur head (demo version)
	3	# This provides just enough infrastructure to run the Arthur rig
	4	# in an animation mode.
	5	#
	6	# To build:
	7	# sudo docker build -t opencog/ros-indigo-animation .
	8	#
	9	# opencog/ros-indigo-blender provides ROS+blender+catkin
	10	FROM opencog/ros-indigo-blender
	11	MAINTAINER Linas Vepstas "linasvepstas@gmail.com"
	12
	13	WORKDIR /catkin_ws/src
	14
	15	# Packages to install
	16	# The basic_head_api repo contains the messages
	17	RUN git clone https://github.com/hansonrobotics/basic_head_api
	18	# The robo_blender contains the head and animation scripts
	19	RUN git clone https://github.com/hansonrobotics/robo_blender
	20	# The pau2motors is where required PAU messages are defined
	21	RUN git clone https://github.com/hansonrobotics/pau2motors
	22
	23	# Change line below to rebuild. Will use cached docker iamges up to
	24	# this line
	25	ENV LAST_SOFTWARE_UPDATE 2014-12-18
	26
	27	# Git pull for all packages
	28	RUN find . -maxdepth 1 -mindepth 1 -type d \
	29	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	30
	31	# Must source and make in same run, else the env is lost!??
	32	WORKDIR /catkin_ws
	33	RUN . /opt/ros/indigo/setup.sh; /opt/ros/indigo/bin/catkin_make
	34
	35	ADD /scripts/arthur.sh /catkin_ws/arthur.sh
	36	ADD /scripts/demo-hints.txt /catkin_ws/demo-hints.txt
	37	RUN chmod ugo+x ./arthur.sh
	38	CMD ./arthur.sh
	39
	40	# CMD /bin/bash

indigo/arthur-animation/README.md +26 -0

…	…	@@ -0,0 +1,26 @@
	1
	2	Facial Expression Animation Demo
	3	================================
	4
	5	Demo of controlling basic facial animations with the Hanson Robotics
	6	Arthur blender head. Running this container will start the Arthur head
	7	in animation mode, and then print a short menu of suggested animations
	8	to try out. Facial expressions include 'happy', 'sad', 'surprised' and
	9	'angry'. The animations are started and stopped using ROS messages. See
	10	the 'demo-hints.txt' file in this directory for the demo instructions.
	11
	12	The demo can be started by saying `./run.sh` and can be halted by saying
	13	`./stop.sh`.
	14
	15	Alternately, you can run this image by saying:
	16	```
	17	xhost +
	18	sudo docker run --rm --privileged -i \
	19	-v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 \
	20	-v /dev/dri:/dev/dri -v /dev/shm:/dev/shm \
	21	-e DISPLAY=:0.0 -t opencog/ros-indigo-animation
	22
	23	# When done:
	24	xhost -
	25	```
	26

indigo/arthur-animation/run.sh +19 -0

…	…	@@ -0,0 +1,19 @@
	1	#! /bin/bash
	2	#
	3	# run.sh
	4	#
	5	# Usage: ./run.sh
	6	#
	7	# This will start the docker container for demoing the Arthur head.
	8	# The container can be stopped with ./stop.sh
	9	#
	10	echo -n 'Stopping leftover container.. '
	11	docker stop -t 1 arthur-animation-demo
	12	echo -n 'Removing.. '
	13	docker rm arthur-animation-demo
	14	xhost +
	15	docker run --name="arthur-animation-demo" --privileged \
	16	-e DISPLAY=:0.0 \
	17	-v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri \
	18	-v /dev/shm:/dev/shm -it opencog/ros-indigo-animation
	19	xhost -

indigo/arthur-animation/scripts/arthur.sh +25 -0

…	…	@@ -0,0 +1,25 @@
	1	#!/bin/bash
	2	#
	3	# arthur.sh
	4	#
	5	# ROS + blender launch script for the Hanson Robotics animation demo
	6	# This shell script is automatically started within the docker container.
	7	# It needs to run in the catkin_ws directory where the various ROS nodes
	8	# and blender models were installed. It assumes that catkin_make was
	9	# already run.
	10
	11	source devel/setup.sh
	12	echo "Starting... this will take 15-20 seconds..."
	13	byobu new-session -d -n 'roscore' 'roscore; $SHELL'
	14	sleep 2;
	15	byobu new-window -n 'blender' 'cd /catkin_ws/src/robo_blender/src && blender animate-test.blend --enable-autoexec --python startup.py; $SHELL'
	16	sleep 6;
	17	byobu new-window -n 'cmdline' 'echo \"going into animation mode ...\"; rostopic pub --once /cmd_blendermode std_msgs/String Animations; clear; cat /catkin_ws/demo-hints.txt; $SHELL -l'
	18
	19	# Fix the annoying byobu display
	20	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	21	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	22	tmux attach
	23
	24	echo "Started"
	25	$SHELL

indigo/arthur-animation/scripts/demo-hints.txt +22 -0

…	…	@@ -0,0 +1,22 @@
	1	# To use this head, try doing these things:
	2	#
	3	# Obtain the list of supported animations. The result should show:
	4	# actions: ['angry-1', 'sad-1', 'happy-1', 'surprised-1']
	5	rostopic echo -n 1 /animations_list
	6
	7	# Perform one of the supported animations
	8	rostopic pub --once /cmd_animations std_msgs/String play:sad-1
	9
	10	# Verify that tracking output is sent to the PAU motors
	11	rostopic echo /dmitry/cmd_eyes_pau
	12
	13	# Pause the animation
	14	rostopic pub --once /cmd_animations std_msgs/String pause
	15
	16	# Restart the animation
	17	rostopic pub --once /cmd_animations std_msgs/String play
	18
	19	# Halt the animation
	20	rostopic pub --once /cmd_animations std_msgs/String stop
	21
	22	# View this help text again, say 'cat /catkin_ws/demo-hints.txt'

indigo/arthur-animation/stop.sh +12 -0

…	…	@@ -0,0 +1,12 @@
	1	#! /bin/bash
	2	#
	3	# stop.sh
	4	#
	5	# Usage: ./stop.sh
	6	#
	7	# This will stop and remove a running docker container started with run.sh
	8	#
	9	echo -n 'Stopping leftover container.. '
	10	docker stop -t 1 arthur-animation-demo
	11	echo -n 'Removing.. '
	12	docker rm arthur-animation-demo

indigo/arthur-dev/Dockerfile +75 -0

…	…	@@ -0,0 +1,75 @@
	1	#
	2	# Container for the Hanson Robotics Arthur head (full version)
	3	# This provides the complete running package for the demo head,
	4	# including UVC webcam vision input, pi_vision to discover faces,
	5	# behavior controled by owyl trees, and the full motor control output.
	6	#
	7	# To build:
	8	# sudo docker build -t opencog/ros-arthur-dev .
	9	#
	10	FROM opencog/ros-indigo-blender
	11	MAINTAINER Vytas Krisciunas "vytas@hansonrobotics.com"
	12	MAINTAINER Linas Vepstas "linasvepstas@gmail.com"
	13
	14	# Install required packages
	15	RUN apt-get -y update
	16	RUN apt-get -y install ros-indigo-openni-camera ros-indigo-mjpeg-server \
	17	ros-indigo-rosbridge-server ros-indigo-tf ros-indigo-audio-common \
	18	ros-indigo-driver-common
	19	RUN apt-get -y install python-serial python-pycurl python-pyglet python-pip
	20	RUN apt-get -y install mplayer
	21	# RUN apt-get -y install libcurl3 libavbin-dev libavbin0 libav-tools
	22
	23	# Install pi_vision
	24	WORKDIR /opt/ros/indigo/share
	25	RUN git clone https://github.com/ericperko/uvc_cam.git
	26	RUN git clone -b multiple_2d https://github.com/hansonrobotics/pi_vision.git
	27	RUN bash -l -c "source /.bashrc;rosmake pi_vision"
	28
	29	# Owyl setup
	30	WORKDIR /opt/
	31	RUN git clone https://github.com/eykd/owyl.git
	32	WORKDIR /opt/owyl/
	33	RUN python setup.py install
	34
	35	# Install catkin packages
	36	WORKDIR /catkin_ws/src
	37
	38	# The basic_head_api repo contains the messages
	39	RUN git clone https://github.com/hansonrobotics/basic_head_api
	40	# The robo_blender contains the head and animation scripts
	41	RUN git clone https://github.com/hansonrobotics/robo_blender
	42	# The pau2motors is where required PAU messages are defined
	43	RUN git clone https://github.com/hansonrobotics/pau2motors
	44
	45	RUN git clone https://github.com/hansonrobotics/ros_pololu_servo.git
	46	RUN git clone https://github.com/hansonrobotics/ros_motors_webui.git
	47	RUN git clone https://github.com/hansonrobotics/robots_config.git
	48	RUN git clone https://github.com/hansonrobotics/chatbot.git
	49	RUN git clone https://github.com/hansonrobotics/eva_behavior.git
	50	RUN git clone https://github.com/hansonrobotics/ros_faceshift.git
	51
	52	# Change line below to rebuild. Will use cache up to this line
	53	ENV LAST_SOFTWARE_UPDATE 2014-12-08
	54
	55	# Git pull for all packages
	56	RUN find . -maxdepth 1 -mindepth 1 -type d \
	57	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	58
	59	# CMake
	60	WORKDIR /catkin_ws
	61	RUN bash -l -c "/usr/bin/python3 /opt/ros/indigo/bin/catkin_make"
	62
	63	RUN echo source /catkin_ws/devel/setup.bash >> ~/.bashrc
	64
	65	#Ports exposed
	66	EXPOSE 9090
	67	EXPOSE 80
	68	EXPOSE 33433
	69
	70	# The launch script
	71	ADD /scripts/arthur-dev.sh /catkin_ws/arthur-dev.sh
	72	RUN chmod ugo+x ./arthur-dev.sh
	73
	74	ENTRYPOINT bash -l -c "cd /catkin_ws/; ./arthur-dev.sh; bash"
	75

indigo/arthur-dev/README.md +34 -0

…	…	@@ -0,0 +1,34 @@
	1
	2	Robot Head Development
	3	======================
	4
	5	Full configuration for animating the Hanson Robotics Arthur blender
	6	head. Running this container will start the UVC video camera drivers,
	7	the pi_vision face discovery module, the eva_behavior module that
	8	implements scrripted behaviors, two blender windows for the Arthur head,
	9	the PAU-2-motor control module, and the Pololu brand motor controllers.
	10	The Web user interfaces is also started.
	11
	12	The behavior of the robot head can be controlled by aiming a web browser
	13	at http://localhost. This uses the default http port number of 80; this
	14	can be changed in the `run.sh` startup file.
	15
	16	By default, the `/dev/video0` device is used as a webcam for face
	17	tracking. It can be changed in `run.sh` file.
	18
	19	The container can be started by saying `./run.sh` and can be halted by
	20	saying `./stop.sh`.
	21
	22	Alternately, you can run this image by saying:
	23	```
	24	xhost +
	25	sudo docker run --rm --privileged -i \
	26	-p 33433:33433 -p 80:80 -p 9090:9090 \
	27	-v /dev/video0:/dev/video0 -v /dev/snd:/dev/snd \
	28	-v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 \
	29	-v /dev/dri:/dev/dri -v /dev/shm:/dev/shm \
	30	-e DISPLAY=:0.0 -t opencog/ros-arthur-dev
	31
	32	# When done:
	33	xhost -
	34	```

indigo/arthur-dev/build.sh +7 -0

…	…	@@ -0,0 +1,7 @@
	1	#! /bin/bash
	2	#
	3	# build.sh
	4	#
	5	# Build the arthuer docker image
	6	#
	7	docker build -t opencog/ros-arthur-dev .

indigo/arthur-dev/run.sh +21 -0

…	…	@@ -0,0 +1,21 @@
	1	#! /bin/bash
	2	#
	3	# run.sh
	4	#
	5	# Usage: ./run.sh
	6	#
	7	# This will start the docker container for the full Arthur head.
	8	# The container can be stopped with ./stop.sh
	9	#
	10	echo -n 'Stopping leftover container.. '
	11	docker stop -t 1 hr-arthur-devel
	12	echo -n 'Removing.. '
	13	docker rm hr-arthur-devel
	14	xhost +
	15	docker run --name="hr-arthur-devel" --privileged \
	16	-e DISPLAY=:0.0 \
	17	-p 33433:33433 -p 80:80 -p 9090:9090 \
	18	-v /dev/video0:/dev/video0 -v /dev/snd:/dev/snd \
	19	-v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri \
	20	-v /dev/shm:/dev/shm -it opencog/ros-arthur-dev
	21	xhost -

indigo/arthur-dev/scripts/arthur-dev.sh +40 -0

…	…	@@ -0,0 +1,40 @@
	1	#!/bin/bash
	2	#
	3	# arthur-dev.sh
	4	#
	5	# ROS + blender launch script for the Hanson Robotics animation demo
	6	# This shell script is automatically started within the docker container.
	7	# It needs to run in the catkin_ws directory where the various ROS nodes
	8	# and blender models were installed. It assumes that catkin_make was
	9	# already run.
	10
	11	source devel/setup.sh
	12	echo "Starting... this will take 15-20 seconds..."
	13
	14	# Use byobu so that the scroll bars actually work
	15	byobu new-session -d -n 'roscore' 'roscore; $SHELL'
	16	sleep 2;
	17	tmux new-window -n 'arthur' 'roslaunch robots_config arthur-dev.launch; $SHELL'
	18	sleep 6;
	19
	20	# Start web server for providing a nice UI for the animations.
	21	tmux new-window -n 'rosbridge' 'roslaunch rosbridge_server rosbridge_websocket.launch'
	22	tmux new-window -n 'webserver' 'cd /catkin_ws/src/ros_motors_webui && python -m SimpleHTTPServer 80; $SHELL'
	23
	24	# One blender session for object tracking, another for animations
	25	tmux new-window -n 'blndr-trk' 'cd /catkin_ws/src/robo_blender/src && blender robo.blend --enable-autoexec --python startup.py; $SHELL'
	26	tmux new-window -n 'blndr-anim' 'cd /catkin_ws/src/robo_blender/src && blender animate-test.blend --enable-autoexec --python startup.py; $SHELL'
	27
	28	# Video camera and face tracker
	29	tmux new-window -n 'camera' 'roslaunch ros2opencv uvc_cam.launch'
	30	tmux new-window -n 'face' 'roslaunch pi_face_tracker face_tracker_uvc_cam.launch'
	31
	32	# Spare-usage shell
	33	tmux new-window -n 'bash' '$SHELL'
	34
	35	# Fix the annoying byobu display
	36	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	37	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	38	tmux attach
	39
	40	echo "Started"

indigo/arthur-dev/stop.sh +12 -0

…	…	@@ -0,0 +1,12 @@
	1	#! /bin/bash
	2	#
	3	# stop.sh
	4	#
	5	# Usage: ./stop.sh
	6	#
	7	# This will stop and remove a running docker container started with run.sh
	8	#
	9	echo -n 'Stopping leftover container.. '
	10	docker stop -t 1 hr-arthur-devel
	11	echo -n 'Removing.. '
	12	docker rm hr-arthur-devel

indigo/build-all.sh +25 -0

…	…	@@ -0,0 +1,25 @@
	1	#! /bin/bash
	2	#
	3	# build-all.sh
	4	#
	5	# Handy dandy snippet to build the current demo images.
	6	#
	7	cd ros-base
	8	./build.sh
	9	cd ..
	10
	11	cd ros-opencog
	12	./build.sh
	13	cd ..
	14
	15	cd ros-incog-blender
	16	./build.sh
	17	cd ..
	18
	19	# cd eva-silent
	20	# ./build.sh
	21	# cd ..
	22
	23	cd eva-opencog
	24	./build.sh
	25	cd ..

indigo/build-old.sh +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#! /bin/bash
	2	#
	3	# build-old.sh
	4	#
	5	# Handy dandy snippet to build the old images.
	6	#
	7	cd ros-base
	8	./build.sh
	9	cd ..
	10
	11	cd ros-blender
	12	./build.sh
	13	cd ..
	14
	15	cd eva-owyl
	16	./build.sh
	17	cd ..

indigo/dev/Dockerfile +36 -0

…	…	@@ -0,0 +1,36 @@
	1	# docker build -t opencog/ros-indigo-dev .
	2	# xhost +
	3	# docker run -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -i -t opencog/ros-indigo-dev /bin/bash
	4	# docker run -t -i --rm --privileged -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /home/mandeep/sharedFolder:/tmp/shared -v /dev/video0:/dev/video0 mandeep/ros-indigo-dev /bin/bash
	5
	6	FROM opencog/ros-indigo-base
	7	MAINTAINER Mandeep Singh Bhatia "mandeep.singh.bhatia@gmail.com"
	8	MAINTAINER David Hart "dhart@opencog.org"
	9
	10	# Fake a fuse install; openjdk pulls this in
	11	# https://github.com/dotcloud/docker/issues/514
	12	# https://gist.github.com/henrik-muehe/6155333
	13	RUN mkdir -p /tmp/fuse-hack && cd /tmp/fuse-hack && \
	14	apt-get install libfuse2 && \
	15	apt-get download fuse && \
	16	dpkg-deb -x fuse_* . && \
	17	dpkg-deb -e fuse_* && \
	18	rm fuse_*.deb && \
	19	echo -en '#!/bin/bash\nexit 0\n' > DEBIAN/postinst && \
	20	dpkg-deb -b . /fuse.deb && \
	21	dpkg -i /fuse.deb && \
	22	rm -rf /tmp/fuse-hack
	23
	24	RUN apt-get -y update
	25	RUN apt-get -y install camorama geany
	26	RUN apt-get -y install cmake-curses-gui git mercurial subversion
	27	RUN apt-get -y install less meld vim-gnome
	28
	29	# Environment Variables
	30	## Set Locale -- Catkin crashes on Krisčiunas, Mickevičius without this.
	31	RUN locale-gen en_US.UTF-8
	32	ENV LANG en_US.UTF-8
	33	ENV LANGUAGE en_US:en
	34	ENV LC_ALL en_US.UTF-8
	35
	36	CMD /bin/bash

indigo/dev/build.sh +7 -0

…	…	@@ -0,0 +1,7 @@
	1	#! /bin/bash
	2	#
	3	# build.sh
	4	#
	5	# Build this docker image.
	6	#
	7	docker build -t opencog/ros-indigo-dev .

indigo/docker-cleanup.sh +22 -0

…	…	@@ -0,0 +1,22 @@
	1	#! /bin/bash
	2	#
	3	# General docker cleanup. Handy if you've been ahcking and need the
	4	# accumulated juk to be blown away. Use at your own risk.
	5	#
	6	# First, remove the non-running containers.
	7	# docker rm $(docker ps -aq -f "status=exited")
	8	TAINERS=`docker ps -aq -f "status=exited" -f "status=dead"`
	9	if test x"$TAINERS" != x; then
	10	echo -n 'Removing exited containers...'
	11	docker rm $TAINERS
	12	fi
	13
	14	# Next, remove failed images.
	15	# docker rmi $(docker images -q -f "dangling=true")
	16	MAGES=`docker images -q -f "dangling=true"`
	17	if test x"$MAGES" != x; then
	18	echo -n 'Removing dangling images'
	19	docker rmi $MAGES
	20	fi
	21
	22	# docker rmi $(docker images --filter dangling=true)

indigo/einstein/Dockerfile +57 -0

…	…	@@ -0,0 +1,57 @@
	1	# docker build -t opencog/ros-indigo-blender .
	2	# xhost +
	3	# docker run --rm --privileged -i -v /dev/ttyACM0:/dev/ttyACM0 -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri -v /dev/shm:/dev/shm -e DISPLAY=:0.0 -p 33433:33433/udp -t opencog/ros-indigo-blender
	4	# Note: port 33433=faceshift, /dev/ttyACM0=pololu, /dev/dri=gpu, /dev/shm=gpu
	5	### Blender: click Run Script
	6	### Blender: right-click & drag target (blue cube)
	7	# ToDo: add MORSE robot simulator
	8	# replace faceshift with OpenCV FaceRecognizer, etc.
	9
	10	FROM opencog/ros-indigo-dev
	11	MAINTAINER Mandeep Singh Bhatia "mandeep.singh.bhatia@gmail.com"
	12	MAINTAINER David Hart "dhart@opencog.org"
	13
	14	RUN apt-get -y update
	15	RUN apt-get -y install blender
	16
	17	RUN apt-get -y install python3-yaml python3-pip
	18	RUN pip3 install rospkg catkin_pkg
	19
	20	RUN echo source /catkin_ws/devel/setup.bash >> /.bash_profile && \
	21	echo -e "\e[1;34m[$SELF_NAME] catkin devel setup\.bash sourced\e[0m"
	22
	23	WORKDIR /catkin_ws/src
	24	RUN cp /opt/ros/indigo/setup.sh /etc/profile.d/ros_indigo.sh
	25	ENV PYTHONPATH /opt/ros/indigo/lib/python2.7/dist-packages
	26	RUN /usr/bin/python3 /opt/ros/indigo/bin/catkin_init_workspace
	27
	28	RUN git clone https://github.com/hansonrobotics/robo_blender
	29	RUN git clone https://github.com/yantrabuddhi/ros_pololu_servo
	30	RUN git clone https://github.com/yantrabuddhi/ros_nmpt_saliency
	31	RUN git clone https://github.com/yantrabuddhi/ros_faceshift
	32	RUN git clone https://github.com/yantrabuddhi/simple_face_tracker
	33	RUN git clone https://github.com/OctoMap/octomap
	34
	35	WORKDIR /catkin_ws
	36	RUN bash -l -c "/usr/bin/python3 /opt/ros/indigo/bin/catkin_make"
	37
	38	WORKDIR /catkin_ws/src/robo_blender/src
	39
	40	ENV STARTSCRIPT "\
	41	echo evaluating startup script... &&\
	42	source /catkin_ws/devel/setup.bash &&\
	43	tmux new-session -d 'echo -e \"\e[1;34mroscore\e[0m\" ; roscore' &&\
	44	tmux set -g set-remain-on-exit on &&\
	45	tmux set-option -g set-remain-on-exit on &&\
	46	tmux bind-key R respawn-window &&\
	47	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mros_pololu_servo\e[0m\" ;\
	48	rosrun ros_pololu_servo ros_pololu_servo_node' &&\
	49	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mblender robo.blend\e[0m\" ;\
	50	sleep 4 && blender robo.blend' &&\
	51	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mbash shell\e[0m\" ;\
	52	bash -l -i' &&\
	53	tmux select-layout even-vertical &&\
	54	tmux attach \
	55	"
	56
	57	CMD /bin/bash -l -c "eval $STARTSCRIPT"

indigo/einstein/README.md +8 -0

…	…	@@ -0,0 +1,8 @@
	1	ros-indigo-einstein
	2	===================
	3
	4	An integrated development container for teleoperating Hanson Robotics' small
	5	Einstein head. This container was demo'd at ROS Kong 2014 by David Hanson.
	6
	7	The Einstein head contains servos driven by a Pololu board and controlled
	8	via Blender. Saliency detection is TBD.

indigo/einstein/einstein.sh +10 -0

…	…	@@ -0,0 +1,10 @@
	1	#!/bin/bash
	2	echo "Starting"
	3	tmux new-session -n 'einstein' -d ' roslaunch robots_config einstein.launch; $SHELL'
	4	sleep 5;
	5	export ROS_NAMESPACE=/einstein
	6	tmux new-window -n 'rosbridge' 'roslaunch rosbridge_server rosbridge_websocket.launch; $SHELL'
	7	tmux new-window -n 'webserver' 'cd /catkin_ws/src/ros_motors_webui && python -m SimpleHTTPServer; $SHELL'
	8	tmux attach;
	9	echo "Started"
	10

indigo/eva-opencog/Dockerfile +95 -0

…	…	@@ -0,0 +1,95 @@
	1	#
	2	# Container for the OpenCog-based Hanson Robotics Eva robot.
	3	# This is the whole kit-n-kaboodle. Under development, probably
	4	# broken.
	5	#
	6	# To build:
	7	# sudo docker build -t opencog/eva-opencog .
	8	#
	9	FROM opencog/ros-incog-blender
	10	MAINTAINER Linas Vepštas "linasvepstas@gmail.com"
	11
	12	# Install required packages
	13	ENV LAST_OS_UPDATE 2015-02-16
	14	RUN apt-get -y update
	15	RUN apt-get -y upgrade
	16	# The perception node needs ros-indigo-dynamixel-msgs and
	17	# the joint/robot-state publishers
	18	RUN apt-get -y install ros-indigo-tf ros-indigo-driver-common \
	19	ros-indigo-cv-bridge ros-indigo-image-transport \
	20	ros-indigo-openni-camera ros-indigo-mjpeg-server \
	21	ros-indigo-usb-cam \
	22	ros-indigo-dynamixel-msgs \
	23	ros-indigo-robot-state-publisher \
	24	ros-indigo-joint-state-publisher
	25
	26	# Install catkinized packages
	27	WORKDIR /catkin_ws/src
	28
	29	RUN git clone https://github.com/hansonrobotics/pi_vision.git
	30	RUN git clone https://github.com/hansonrobotics/perception.git
	31	RUN git clone https://github.com/hansonrobotics/blender_api_msgs.git
	32	RUN git clone https://github.com/hansonrobotics/blender_api.git
	33
	34	# The pau2motors package defines the PAU messages, which are
	35	# needed by the perception (vision-geometry) module.
	36	RUN git clone https://github.com/hansonrobotics/pau2motors.git
	37	RUN git clone https://github.com/hansonrobotics/robots_config.git
	38
	39	# The OpenCog github account mirrors all of the Hanson Robotics
	40	# software. At this time, the two are in sync with each-other.
	41	# RUN git clone https://github.com/opencog/pi_vision.git
	42	# RUN git clone https://github.com/opencog/perception.git
	43	# RUN git clone https://github.com/opencog/blender_api_msgs.git
	44	# RUN git clone https://github.com/opencog/blender_api.git
	45	# RUN git clone https://github.com/opencog/pau2motors.git
	46	# RUN git clone https://github.com/opencog/robots_config.git
	47
	48	RUN cd /opencog && git clone https://github.com/opencog/ros-behavior-scripting.git
	49
	50	# Change line below on rebuild. Will use cache up to this line
	51	ENV LAST_SOFTWARE_UPDATE 2016-03-01
	52
	53	# Git pull for all OpenCog packages
	54	RUN cd /opencog/ && find . -maxdepth 1 -mindepth 1 -type d \
	55	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	56
	57	### RUN cd /opencog/ros-behavior-scripting && git pull https://github.com/linas/ros-behavior-scripting +lookie:master
	58	# Make sure we really have the lastest chatbot scripts
	59	RUN (cd /opencog/opencog/build; cmake ..; make install)
	60
	61	# Install the behaviors as a module.
	62	RUN (mkdir /opencog/ros-behavior-scripting/build; \
	63	cd /opencog/ros-behavior-scripting/build; \
	64	cmake ..; make install)
	65
	66	# Pre-compile the guile modules.
	67	RUN (bash -l -c "echo \"(use-modules (opencog eva-model))\" | guile ")
	68	RUN (bash -l -c "echo \"(use-modules (opencog eva-behvaior))\" | guile ")
	69
	70	# Git pull for all ROS packages
	71	RUN cd /catkin_ws/src/ && find . -maxdepth 1 -mindepth 1 -type d \
	72	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	73
	74	# The blender API has not been fully catkinized yet.
	75	RUN pip3 install ./blender_api_msgs/
	76
	77	# Some versions of ros_pololu_server will fail during build; the
	78	# work-around for this is to build twice (This because the missing
	79	# files are autogened, and the pololu Cmakefiles fail to list them as
	80	# dependencies.)
	81	WORKDIR /catkin_ws
	82	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make" || true
	83	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make"
	84
	85	RUN echo source /catkin_ws/devel/setup.bash >> ~/.bashrc
	86
	87	COPY /scripts/eva.sh /catkin_ws/eva.sh
	88
	89	# Ports exposed
	90	# 11311 is roscore
	91	# EXPOSE 11311
	92	# 4444 is the relex parse server
	93	# EXPOSE 4444
	94
	95	ENTRYPOINT bash -l -c "./eva.sh; bash"

indigo/eva-opencog/README.md +50 -0

…	…	@@ -0,0 +1,50 @@
	1	eva-opencog
	2	===========
	3
	4	An image containing the OpenCog + Hanson Robotics Eva robot.
	5	This is the whole kit-n-kaboodle. In development. Probably broken.
	6
	7	The visual processing+animation pipeline consists of:
	8	* A ROS node that takes video input from a UVC-compatible USB webcam
	9	(most typical desktop/laptop cameras are compatible).
	10	* A ROS node that does face detection: it tries to find human faces in
	11	the video feed.
	12	* A ROS node that maps the face postions to a 3D coordinate system.
	13	* A ROS node that runs the Eva blender rig itself (i.e. uses blender
	14	to draw/animate Eva).
	15
	16	The speech processing pipleing consists of:
	17	* The RelEx server parsing English.
	18	* The OpenCog chatbot (currently not attached to any input source).
	19
	20	## Building
	21
	22	Run the `./build.sh` file in this directory. You need to have built
	23	the `ros-incog-blender` image (in the `../ros-incog-blender` directory)
	24	first.
	25
	26	## Testing
	27	To verify that blender works, run the `./run.sh` shell script.
	28	This will start blender and the half-dozen ROS nodes that control it.
	29	You should see a living, breating Eva.
	30
	31	You can chat to Eva by going to the guile prompt, and typing in
	32	chat text like so:
	33	```
	34	(process-query 'luser "Look left!")
	35	(process-query 'luser "Smile!")
	36	(process-query 'luser "Look sad!")
	37	(process-query 'luser "Eva, express boredom")
	38	```
	39
	40	Turn on the non-verbal behaviors by saying:
	41	```
	42	(run)
	43	```
	44
	45	If things don't work, open a github issue or complain on the mailing list!
	46
	47	## TODO
	48	* Remove joint_state_publisher robot_state_publisher from the geometry
	49	startup -- we only need to track face locations via geometry, and not
	50	the rest of the stuff.

indigo/eva-opencog/build.sh +5 -0

…	…	@@ -0,0 +1,5 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for eva-opencog
	4	#
	5	docker build -t opencog/eva-opencog .

indigo/eva-opencog/run.sh +21 -0

…	…	@@ -0,0 +1,21 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Enable local, non-network connections to X-Server
	8	xhost +local:root
	9
	10	# Assorted grunge to let X11 use the 3D graphics acceleration.
	11	# 11311 is the roscore port -- but we have no need to expose it...
	12	# 4444 is the relex parse server -- again, no need to expose it just now.
	13	# -p 11311:11311 -p 4444:4444
	14	docker run --name="eva-opencog" \
	15	-e DISPLAY=:0.0 --privileged \
	16	-v /dev/video0:/dev/video0 -v /dev/snd:/dev/snd \
	17	-v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri \
	18	-v /dev/shm:/dev/shm -it opencog/eva-opencog
	19
	20	xhost -local:root
	21	clear

indigo/eva-opencog/scripts/eva.sh +50 -0

…	…	@@ -0,0 +1,50 @@
	1	#! /bin/bash
	2	#
	3	# eva.sh
	4	#
	5	# ROS + blender launch script for the Hanson Robotics Eva blender head.
	6	# This shell script is automatically started within the docker container.
	7	# It needs to run in the catkin_ws directory where the various ROS nodes
	8	# and blender models were installed. It assumes that catkin_make was
	9	# already run.
	10
	11	source devel/setup.sh
	12	echo "Starting... this will take 15-20 seconds..."
	13
	14	# Use byobu so that the scroll bars actually work.
	15	byobu new-session -d -n 'ros' 'roscore; $SHELL'
	16	sleep 4;
	17
	18	# Run the relex parse server.
	19	tmux new-window -n 'rlx' 'cd /opencog/relex && ./opencog-server.sh ; $SHELL'
	20
	21	# Single Video (body) camera and face tracker.
	22	tmux new-window -n 'trk' 'roslaunch robots_config tracker-single-cam.launch; $SHELL'
	23
	24	# Publish the geometry messages. This includes tf2 which holds
	25	# the face locations.
	26	tmux new-window -n 'geo' 'roslaunch robots_config geometry.launch gui:=false; $SHELL'
	27
	28	### Start the blender GUI.
	29	tmux new-window -n 'eva' 'cd /catkin_ws/src/blender_api && blender -y Eva.blend -P autostart.py; $SHELL'
	30
	31	# Start the IRC chatbot bridge.
	32	tmux new-window -n 'irc' 'cd /opencog/opencog/build/opencog/nlp/irc && ./cogita -n ieva -f "Robot Eva" -t 17020; ; $SHELL'
	33
	34	# Start the cogserver.
	35	# It seems to take more than 5 seconds to load all scripts!?
	36	tmux new-window -n 'cog' 'cd /opencog/ros-behavior-scripting/src && guile -l btree-eva.scm ; $SHELL'
	37	sleep 5
	38
	39	# Run the new face tracker.
	40	tmux new-window -n 'fac' 'cd /opencog/ros-behavior-scripting/face_track && ./main.py ; $SHELL'
	41
	42	# Spare-usage shell
	43	tmux new-window -n 'bash' '$SHELL'
	44
	45	# Fix the annoying byobu display.
	46	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	47	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	48	tmux attach
	49
	50	echo "Started"

indigo/eva-opencog/stop.sh +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep eva-opencog |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container... '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep eva-opencog`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing... '
	13	docker rm eva-opencog
	14	fi
	15
	16	# Disable local X11 connections, just in case.
	17	xhost -local:root

indigo/eva-owyl/Dockerfile +75 -0

…	…	@@ -0,0 +1,75 @@
	1	#
	2	# Container for the Hanson Robotics Eva head (stand-alone Owyl version).
	3	# This provides the complete Owyl-behavior-tree version of the demo head.
	4	# It includes UVC webcam vision input, pi_vision to discover faces, and
	5	# behavior controlled by Owyl trees. This is a stand-alone version of
	6	# the Eva head, it does not depend on or use any OpenCog software.
	7	# In particular, it is not capable of chat.
	8	#
	9	# To build:
	10	# sudo docker build -t opencog/eva-owyl .
	11	#
	12	FROM opencog/ros-indigo-blender
	13	MAINTAINER Linas Vepštas "linasvepstas@gmail.com"
	14
	15	# Install required packages
	16	ENV LAST_OS_UPDATE 2015-02-16
	17	RUN apt-get -y update
	18	RUN apt-get -y upgrade
	19	RUN apt-get -y install ros-indigo-tf ros-indigo-driver-common
	20	RUN apt-get -y install ros-indigo-cv-bridge ros-indigo-image-transport
	21	RUN apt-get -y install ros-indigo-openni-camera ros-indigo-mjpeg-server
	22	RUN apt-get -y install ros-indigo-usb-cam
	23	# The below are needed by perception node
	24	RUN apt-get -y install ros-indigo-dynamixel-msgs
	25	RUN apt-get -y install ros-indigo-robot-state-publisher
	26	RUN apt-get -y install ros-indigo-joint-state-publisher
	27
	28	# Owyl setup
	29	WORKDIR /opt/
	30	RUN git clone https://github.com/eykd/owyl.git
	31	WORKDIR /opt/owyl/
	32	RUN python setup.py install
	33
	34	# Install catkinized packages
	35	WORKDIR /catkin_ws/src
	36
	37	RUN git clone https://github.com/hansonrobotics/pi_vision.git
	38	RUN git clone https://github.com/hansonrobotics/perception.git
	39	RUN git clone https://github.com/hansonrobotics/eva_behavior.git
	40	RUN git clone https://github.com/hansonrobotics/blender_api_msgs.git
	41	RUN git clone https://github.com/hansonrobotics/blender_api.git
	42
	43	# The pau2motors package defines the PAU messages, which are
	44	# needed by the perception (vision-geometry) module.
	45	RUN git clone https://github.com/hansonrobotics/pau2motors.git
	46	RUN git clone https://github.com/hansonrobotics/robots_config.git
	47
	48	# The motor side of things is not needed for the software head.
	49	# RUN git clone https://github.com/geni-lab/ros_pololu_servo.git
	50	# RUN git clone https://github.com/hansonrobotics/ros_pololu_servo.git
	51	# RUN git clone https://github.com/hansonrobotics/ros_motors_webui.git
	52
	53	# Change line below on rebuild. Will use cache up to this line
	54	ENV LAST_SOFTWARE_UPDATE 2015-02-19
	55
	56	# Git pull for all packages
	57	RUN cd /catkin_ws/src/ && find . -maxdepth 1 -mindepth 1 -type d \
	58	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	59
	60	# The blender API has not been fully catkinized yet.
	61	RUN pip3 install ./blender_api_msgs/
	62
	63	# Some versions of ros_pololu_server will fail during build; the
	64	# work-around for this is to build twice (This because the missing
	65	# files are autogened, and the pololu Cmakefiles fail to list them as
	66	# dependencies.)
	67	WORKDIR /catkin_ws
	68	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make" || true
	69	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make"
	70
	71	RUN echo source /catkin_ws/devel/setup.bash >> ~/.bashrc
	72
	73	COPY /scripts/eva.sh /catkin_ws/eva.sh
	74
	75	ENTRYPOINT bash -l -c "./eva.sh; bash"

indigo/eva-owyl/README.md +48 -0

…	…	@@ -0,0 +1,48 @@
	1	eva-owyl
	2	========
	3
	4	Eva is an animated female head, capable of seeing you via a webcam,
	5	and engaging you in social interaction, making eye contact, and
	6	expressing her pleasure with smiles and looks of surprise and happiness.
	7
	8	There are several Eva demos. This is a stand-alone demo of the basic
	9	Hanson Robotics Eva blender rig, showing the full range of emotional
	10	facial expressions, ranging from happiness to frustration, excitement
	11	to boredom, as well as gestures such as shakes, nods, blinks and a
	12	keep-alive breathing cycle.
	13
	14	This docker image includes vision processing and basic human-face
	15	awareness behavior, but without a chatbot or any OpenCog processing
	16	software. The behaviors are controlled by a simple behavior-tree
	17	script implemented using Owyl. When the docker image is started, the
	18	demo starts and runs automatically; she should be able to see you
	19	(and your guests) through your webcam, and interact with all of you
	20	in a most charming way. This demo is roughly representative of the
	21	state of the Hanson Robotics Eva development, as of April 2015.
	22
	23	The demo processing pipeline consists of:
	24	* A ROS node that takes video input from a UVC-compatible USB webcam
	25	(most typical desktop/laptop cameras are compatible).
	26	* A ROS node that does face detection: it tries to find human faces in
	27	the video feed.
	28	* A ROS node that maps the face postions to a 3D coordinate system.
	29	* A ROS node that implements social interactions: when a face is seen
	30	for the first time, Eva makes eye contact and smiles. When a face
	31	disappears, Eva becomes at first disappointed, perhaps angry, and
	32	eventually bored. In the meantime, the behavior controller cycles
	33	through a variety of suitable emotional expressions.
	34	* A ROS node that runs the Eva blender rig itself (i.e. uses blender
	35	to draw/animate Eva).
	36	* A ROS node that converts PAU (Physiological Action Units) into motor
	37	controls, needed for animating physical robot models.
	38
	39	## Building
	40
	41	Run the `build.sh` file in this directory. You need to have built
	42	the ros-indigo-blender image (in the `../blender` directory) first.
	43
	44	## Testing
	45	To verify that blender works, run the `run.sh` shell script.
	46	This will start blender and the half-dozen ROS nodes that control it.
	47	You should see a living, breating Eva who smiles at you and tries to
	48	make and maintain eye contact as you move around.

indigo/eva-owyl/build.sh +5 -0

…	…	@@ -0,0 +1,5 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for eva
	4	#
	5	docker build -t opencog/eva-owyl .

indigo/eva-owyl/run.sh +18 -0

…	…	@@ -0,0 +1,18 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Enable local, non-network connections to X-Server
	8	xhost +local:root
	9
	10	# Assorted grunge to let X11 use the 3D graphics acceleration.
	11	docker run --name="eva-owyl" --privileged \
	12	-e DISPLAY=:0.0 \
	13	-v /dev/video0:/dev/video0 -v /dev/snd:/dev/snd \
	14	-v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri \
	15	-v /dev/shm:/dev/shm -it opencog/eva-owyl
	16
	17	xhost -local:root
	18	clear

indigo/eva-owyl/scripts/eva.sh +33 -0

…	…	@@ -0,0 +1,33 @@
	1	#! /bin/bash
	2	#
	3	# eva.sh
	4	#
	5	# ROS + blender launch script for the Hanson Robotics Eva blender head.
	6	# This shell script is automatically started within the docker container.
	7	# It needs to run in the catkin_ws directory where the various ROS nodes
	8	# and blender models were installed. It assumes that catkin_make was
	9	# already run.
	10
	11	source devel/setup.sh
	12	echo "Starting... this will take 15-20 seconds..."
	13
	14	# Use byobu so that the scroll bars actually work
	15	byobu new-session -d -n 'roscore' 'roscore; $SHELL'
	16	sleep 4;
	17
	18	# Single Video (body) camera and face tracker
	19	tmux new-window -n 'trk' 'roslaunch robots_config tracker-single-cam.launch; $SHELL'
	20	# Publish the geometry messages
	21	tmux new-window -n 'geo' 'roslaunch robots_config geometry.launch gui:=false; $SHELL'
	22	tmux new-window -n 'bhave' 'rosrun eva_behavior main.py; $SHELL'
	23	tmux new-window -n 'eva' 'cd /catkin_ws/src/blender_api && blender -y Eva.blend -P autostart.py; $SHELL'
	24
	25	# Spare-usage shell
	26	tmux new-window -n 'bash' 'sleep 4; rostopic pub --once /behavior_switch std_msgs/String btree_on; $SHELL'
	27
	28	# Fix the annoying byobu display
	29	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	30	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	31	tmux attach
	32
	33	echo "Started"

indigo/eva-owyl/stop.sh +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep eva-owyl |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container.. '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep eva-owyl`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing.. '
	13	docker rm eva-owyl
	14	fi
	15
	16	# Disable local X11 connections, just in case.
	17	xhost -local:root

indigo/eva-ros/Dockerfile +74 -0

…	…	@@ -0,0 +1,74 @@
	1	#
	2	# Container for the Hanson Robotics Eva blender rig ROS node, and
	3	# the ROS vision subsystem. It does not include behaviors or a
	4	# chatbot. On launch, it will start roscore, blender, and the vision
	5	# (face-detection) subsystem, but will not perform any behaviors.
	6	#
	7	# To build:
	8	# sudo docker build -t opencog/eva-ros .
	9	#
	10	FROM opencog/ros-indigo-blender
	11	MAINTAINER Linas Vepštas "linasvepstas@gmail.com"
	12
	13	# Install required packages
	14	ENV LAST_OS_UPDATE 2015-02-16
	15	RUN apt-get -y update
	16	RUN apt-get -y upgrade
	17	RUN apt-get -y install ros-indigo-tf ros-indigo-driver-common
	18	RUN apt-get -y install ros-indigo-cv-bridge ros-indigo-image-transport
	19	RUN apt-get -y install ros-indigo-openni-camera ros-indigo-mjpeg-server
	20	RUN apt-get -y install ros-indigo-usb-cam
	21	# The below are needed by perception node
	22	RUN apt-get -y install ros-indigo-dynamixel-msgs
	23	RUN apt-get -y install ros-indigo-robot-state-publisher
	24	RUN apt-get -y install ros-indigo-joint-state-publisher
	25
	26	# Install catkinized packages
	27	WORKDIR /catkin_ws/src
	28
	29	RUN git clone https://github.com/hansonrobotics/pi_vision.git
	30	RUN git clone https://github.com/hansonrobotics/perception.git
	31	RUN git clone https://github.com/hansonrobotics/blender_api_msgs.git
	32	RUN git clone https://github.com/hansonrobotics/blender_api.git
	33
	34	# The pau2motors package defines the PAU messages, which are
	35	# needed by the perception (vision-geometry) module.
	36	RUN git clone https://github.com/hansonrobotics/pau2motors.git
	37	RUN git clone https://github.com/hansonrobotics/robots_config.git
	38
	39	# The OpenCog github account mirrors all of the Hanson Robotics
	40	# software. At this time, the two are in sync with each-other.
	41	# RUN git clone https://github.com/opencog/pi_vision.git
	42	# RUN git clone https://github.com/opencog/perception.git
	43	# RUN git clone https://github.com/opencog/blender_api_msgs.git
	44	# RUN git clone https://github.com/opencog/blender_api.git
	45	# RUN git clone https://github.com/opencog/pau2motors.git
	46	# RUN git clone https://github.com/opencog/robots_config.git
	47
	48	# Change line below on rebuild. Will use cache up to this line
	49	ENV LAST_SOFTWARE_UPDATE 2015-02-19
	50
	51	# Git pull for all packages
	52	RUN cd /catkin_ws/src/ && find . -maxdepth 1 -mindepth 1 -type d \
	53	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	54
	55	# The blender API has not been fully catkinized yet.
	56	RUN pip3 install ./blender_api_msgs/
	57
	58	# Some versions of ros_pololu_server will fail during build; the
	59	# work-around for this is to build twice (This because the missing
	60	# files are autogened, and the pololu Cmakefiles fail to list them as
	61	# dependencies.)
	62	WORKDIR /catkin_ws
	63	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make" || true
	64	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make"
	65
	66	RUN echo source /catkin_ws/devel/setup.bash >> ~/.bashrc
	67
	68	COPY /scripts/eva.sh /catkin_ws/eva.sh
	69
	70	# Ports exposed
	71	# 11311 is roscore
	72	EXPOSE 11311
	73
	74	ENTRYPOINT bash -l -c "./eva.sh; bash"

indigo/eva-ros/README.md +28 -0

…	…	@@ -0,0 +1,28 @@
	1	eva-ros
	2	=======
	3
	4	An image containing the Hanson Robotics Eva blender rig, and the ROS
	5	vision subsystem. It does not contain any parts of OpenCog, or a
	6	chatbot, nor any behavior controls; its just blender+vision.
	7
	8	The data processing pipeline consists of:
	9	* A ROS node that takes video input from a UVC-compatible USB webcam
	10	(most typical desktop/laptop cameras are compatible).
	11	* A ROS node that does face detection: it tries to find human faces in
	12	the video feed.
	13	* A ROS node that maps the face postions to a 3D coordinate system.
	14	* A ROS node that runs the Eva blender rig itself (i.e. uses blender
	15	to draw/animate Eva).
	16	* A ROS node that converts PAU (Physiological Action Units) into motor
	17	controls, needed for animating physical robot models.
	18
	19	## Building
	20
	21	Run the `build.sh` file in this directory. You need to have built
	22	the ros-indigo-blender image (in the `../blender` directory) first.
	23
	24	## Testing
	25	To verify that blender works, run the `run.sh` shell script.
	26	This will start blender and the half-dozen ROS nodes that control it.
	27	You should see a living, breating Eva; however, she is lobotimized:
	28	there's no brain, she cannot actually see you, and will not react.

indigo/eva-ros/build.sh +5 -0

…	…	@@ -0,0 +1,5 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for eva-ros
	4	#
	5	docker build -t opencog/eva-ros .

indigo/eva-ros/run.sh +19 -0

…	…	@@ -0,0 +1,19 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Enable local, non-network connections to X-Server
	8	xhost +local:root
	9
	10	# Assorted grunge to let X11 use the 3D graphics acceleration.
	11	# 11311 is the roscore port
	12	docker run --name="eva-ros" -p 11311:11311 \
	13	-e DISPLAY=:0.0 --privileged \
	14	-v /dev/video0:/dev/video0 -v /dev/snd:/dev/snd \
	15	-v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri \
	16	-v /dev/shm:/dev/shm -it opencog/eva-ros
	17
	18	xhost -local:root
	19	clear

indigo/eva-ros/scripts/eva.sh +32 -0

…	…	@@ -0,0 +1,32 @@
	1	#! /bin/bash
	2	#
	3	# eva.sh
	4	#
	5	# ROS + blender launch script for the Hanson Robotics Eva blender head.
	6	# This shell script is automatically started within the docker container.
	7	# It needs to run in the catkin_ws directory where the various ROS nodes
	8	# and blender models were installed. It assumes that catkin_make was
	9	# already run.
	10
	11	source devel/setup.sh
	12	echo "Starting... this will take 15-20 seconds..."
	13
	14	# Use byobu so that the scroll bars actually work
	15	byobu new-session -d -n 'roscore' 'roscore; $SHELL'
	16	sleep 4;
	17
	18	# Single Video (body) camera and face tracker
	19	tmux new-window -n 'trk' 'roslaunch robots_config tracker-single-cam.launch; $SHELL'
	20	# Publish the geometry messages
	21	tmux new-window -n 'geo' 'roslaunch robots_config geometry.launch gui:=false; $SHELL'
	22	tmux new-window -n 'eva' 'cd /catkin_ws/src/blender_api && blender -y Eva.blend -P autostart.py; $SHELL'
	23
	24	# Spare-usage shell
	25	tmux new-window -n 'bash' '$SHELL'
	26
	27	# Fix the annoying byobu display
	28	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	29	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	30	tmux attach
	31
	32	echo "Started"

indigo/eva-ros/stop.sh +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep eva-ros |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container... '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep eva-ros`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing... '
	13	docker rm eva-ros
	14	fi
	15
	16	# Disable local X11 connections, just in case.
	17	xhost -local:root

indigo/eva-silent/Dockerfile +76 -0

…	…	@@ -0,0 +1,76 @@
	1	#
	2	# Container for the OpenCog-based Hanson Robotics Eva mute robot.
	3	# No chatbot; she merely reacts to your presence or absence, as seen
	4	# by the webcam.
	5	#
	6	# To build:
	7	# sudo docker build -t opencog/eva-silent .
	8	#
	9	FROM opencog/ros-incog-blender
	10	MAINTAINER Linas Vepštas "linasvepstas@gmail.com"
	11
	12	# Install required packages
	13	ENV LAST_OS_UPDATE 2015-02-16
	14	RUN apt-get -y update
	15	RUN apt-get -y upgrade
	16	# The perception node needs ros-indigo-dynamixel-msgs and
	17	# the joint/robot-state publishers
	18	RUN apt-get -y install ros-indigo-tf ros-indigo-driver-common \
	19	ros-indigo-cv-bridge ros-indigo-image-transport \
	20	ros-indigo-openni-camera ros-indigo-mjpeg-server \
	21	ros-indigo-usb-cam \
	22	ros-indigo-dynamixel-msgs \
	23	ros-indigo-robot-state-publisher \
	24	ros-indigo-joint-state-publisher
	25
	26	# Install catkinized packages
	27	WORKDIR /catkin_ws/src
	28
	29	RUN git clone https://github.com/hansonrobotics/pi_vision.git
	30	RUN git clone https://github.com/hansonrobotics/perception.git
	31	RUN git clone https://github.com/hansonrobotics/blender_api_msgs.git
	32	RUN git clone https://github.com/hansonrobotics/blender_api.git
	33
	34	# The pau2motors package defines the PAU messages, which are
	35	# needed by the perception (vision-geometry) module.
	36	RUN git clone https://github.com/hansonrobotics/pau2motors.git
	37	RUN git clone https://github.com/hansonrobotics/robots_config.git
	38
	39	# The OpenCog github account mirrors all of the Hanson Robotics
	40	# software. At this time, the two are in sync with each-other.
	41	# RUN git clone https://github.com/opencog/pi_vision.git
	42	# RUN git clone https://github.com/opencog/perception.git
	43	# RUN git clone https://github.com/opencog/blender_api_msgs.git
	44	# RUN git clone https://github.com/opencog/blender_api.git
	45	# RUN git clone https://github.com/opencog/pau2motors.git
	46	# RUN git clone https://github.com/opencog/robots_config.git
	47
	48	RUN cd /opencog && git clone https://github.com/opencog/ros-behavior-scripting.git
	49
	50	# Change line below on rebuild. Will use cache up to this line
	51	ENV LAST_SOFTWARE_UPDATE 2016-02-19
	52
	53	# Git pull for all packages
	54	RUN cd /catkin_ws/src/ && find . -maxdepth 1 -mindepth 1 -type d \
	55	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	56
	57	# The blender API has not been fully catkinized yet.
	58	RUN pip3 install ./blender_api_msgs/
	59
	60	# Some versions of ros_pololu_server will fail during build; the
	61	# work-around for this is to build twice (This because the missing
	62	# files are autogened, and the pololu Cmakefiles fail to list them as
	63	# dependencies.)
	64	WORKDIR /catkin_ws
	65	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make" || true
	66	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make"
	67
	68	RUN echo source /catkin_ws/devel/setup.bash >> ~/.bashrc
	69
	70	COPY /scripts/eva.sh /catkin_ws/eva.sh
	71
	72	# Ports exposed
	73	# 11311 is roscore
	74	EXPOSE 11311
	75
	76	ENTRYPOINT bash -l -c "./eva.sh; bash"

indigo/eva-silent/README.md +31 -0

…	…	@@ -0,0 +1,31 @@
	1	eva-silent
	2	==========
	3
	4	An image containing the OpenCog + Hanson Robotics Eva mute robot.
	5	This is the robot with vision and face tracking, and behaviors,
	6	but no chatbot.
	7
	8	The data processing pipeline consists of:
	9	* A ROS node that takes video input from a UVC-compatible USB webcam
	10	(most typical desktop/laptop cameras are compatible).
	11	* A ROS node that does face detection: it tries to find human faces in
	12	the video feed.
	13	* A ROS node that maps the face postions to a 3D coordinate system.
	14	* A ROS node that runs the Eva blender rig itself (i.e. uses blender
	15	to draw/animate Eva).
	16	* A ROS node that converts PAU (Physiological Action Units) into motor
	17	controls, needed for animating physical robot models.
	18
	19	## Building
	20
	21	Run the `./build.sh` file in this directory. You need to have built
	22	the `ros-incog-blender` image (in the `../ros-incog-blender` directory)
	23	first.
	24
	25	## Testing
	26	To verify that blender works, run the `./run.sh` shell script.
	27	This will start blender and the half-dozen ROS nodes that control it.
	28	You should see a living, breating Eva; she should be able to "see" you
	29	and react to your presence by attempting to make eye-contact, smiling
	30	and being interested. If she can't see anything, she'll look bored, and
	31	eventually fall asleep.

indigo/eva-silent/build.sh +5 -0

…	…	@@ -0,0 +1,5 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for eva-silent
	4	#
	5	docker build -t opencog/eva-silent .

indigo/eva-silent/run.sh +19 -0

…	…	@@ -0,0 +1,19 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Enable local, non-network connections to X-Server
	8	xhost +local:root
	9
	10	# Assorted grunge to let X11 use the 3D graphics acceleration.
	11	# 11311 is the roscore port
	12	docker run --name="eva-silent" -p 11311:11311 \
	13	-e DISPLAY=:0.0 --privileged \
	14	-v /dev/video0:/dev/video0 -v /dev/snd:/dev/snd \
	15	-v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri \
	16	-v /dev/shm:/dev/shm -it opencog/eva-silent
	17
	18	xhost -local:root
	19	clear

indigo/eva-silent/scripts/eva.sh +37 -0

…	…	@@ -0,0 +1,37 @@
	1	#! /bin/bash
	2	#
	3	# eva.sh
	4	#
	5	# ROS + blender launch script for the Hanson Robotics Eva blender head.
	6	# This shell script is automatically started within the docker container.
	7	# It needs to run in the catkin_ws directory where the various ROS nodes
	8	# and blender models were installed. It assumes that catkin_make was
	9	# already run.
	10
	11	source devel/setup.sh
	12	echo "Starting... this will take 15-20 seconds..."
	13
	14	# Use byobu so that the scroll bars actually work
	15	byobu new-session -d -n 'roscore' 'roscore; $SHELL'
	16	sleep 4;
	17
	18	# Single Video (body) camera and face tracker
	19	tmux new-window -n 'trk' 'roslaunch robots_config tracker-single-cam.launch; $SHELL'
	20	# Publish the geometry messages
	21	tmux new-window -n 'geo' 'roslaunch robots_config geometry.launch gui:=false; $SHELL'
	22	tmux new-window -n 'eva' 'cd /catkin_ws/src/blender_api && blender -y Eva.blend -P autostart.py; $SHELL'
	23
	24	# Run the quick-n-dirty face tracker.
	25	tmux new-window -n 'fac' 'cd /opencog/ros-behavior-scripting/face_track && ./main.py ; $SHELL'
	26
	27	tmux new-window -n 'bhv' 'cd /opencog/ros-behavior-scripting/src && guile -l btree.scm ; $SHELL'
	28
	29	# Spare-usage shell
	30	tmux new-window -n 'bash' '$SHELL'
	31
	32	# Fix the annoying byobu display
	33	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	34	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	35	tmux attach
	36
	37	echo "Started"

indigo/eva-silent/stop.sh +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep eva-silent |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container... '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep eva-silent`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing... '
	13	docker rm eva-silent
	14	fi
	15
	16	# Disable local X11 connections, just in case.
	17	xhost -local:root

indigo/ros-base/Dockerfile +47 -0

…	…	@@ -0,0 +1,47 @@
	1	#
	2	# Base ROS indigo installation.
	3	# Bare bones install; does not launch any nodes.
	4	#
	5	# To build:
	6	# docker build -t opencog/ros-indigo-base .
	7	#
	8	# To run:
	9	# docker run --rm --name="indigo-base" -i -t opencog/ros-indigo-base
	10	#
	11	FROM ubuntu:14.04
	12	MAINTAINER Linas Vepštas "linasvepstas@gmail.com"
	13
	14	# Avoid triggering apt-get dialogs (which may lead to errors). See:
	15	# http://stackoverflow.com/questions/25019183/docker-java7-install-fail
	16	ENV DEBIAN_FRONTEND noninteractive
	17
	18	ENV LAST_OS_UPDATE 2016-02-29
	19	RUN apt-get -y update
	20	RUN apt-get -y upgrade
	21
	22	# Need software-properties-common for `add-apt-repository` command
	23	RUN apt-get -y install wget software-properties-common
	24	RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
	25	RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list
	26	RUN apt-get -y update
	27	#
	28	# Most robot bringup will require git-cloning the working repos.
	29	# Need byobu+tmux for ROS terminal control.
	30	# Need vim so that we can do at least some basic debugging.
	31	RUN apt-get -y install ros-indigo-ros-base ros-indigo-angles
	32	RUN apt-get -y install git tmux byobu vim
	33
	34	# Make vim be usable instead of insane.
	35	COPY /scripts/.vimrc /root/
	36
	37	# Environment Variables
	38	## Set Locale -- Catkin crashes on Krisčiunas, Mickevičius without this.
	39	RUN locale-gen en_US.UTF-8
	40	ENV LANG en_US.UTF-8
	41	ENV LANGUAGE en_US:en
	42	ENV LC_ALL en_US.UTF-8
	43
	44	RUN rosdep init
	45	RUN rosdep update
	46	RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
	47	CMD /bin/bash

indigo/ros-base/README.md +17 -0

…	…	@@ -0,0 +1,17 @@
	1	ros-indigo-base
	2	===============
	3
	4	The base image for building other docker imagess that use ROS. The
	5	container installs and configures a fair variety of ROS packages
	6	needed for running ROS nodes. No actual ROS nodes are started.
	7
	8	## Building
	9
	10	Run the `build.sh` file in this directory. You need to have first
	11	obtained (downloaded) the ubuntu:14.04 image from Docker.
	12
	13	## Testing
	14	To verify that things works, run the `run.sh` shell script.
	15	This should result in a shell prompt inside the docker container.
	16	You can start roscore simply by saying `roscore`. Of course, roscore
	17	by itself, does not do anything interesting...

indigo/ros-base/build.sh +7 -0

…	…	@@ -0,0 +1,7 @@
	1	#! /bin/bash
	2	#
	3	# build.sh
	4	#
	5	# Build the base image images.
	6	#
	7	docker build -t opencog/ros-indigo-base .

indigo/ros-base/run.sh +11 -0

…	…	@@ -0,0 +1,11 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Just for fun, we will export the roscore port 11311 out of the
	8	# container. That way, if you run roscore inside the container,
	9	# and you can `rostopic list` outside of it!
	10	docker run --name="ros-base" \
	11	-p 11311:11311 -it opencog/ros-indigo-base

indigo/ros-base/scripts/.vimrc +22 -0

…	…	@@ -0,0 +1,22 @@
	1	set wrapmargin=8
	2	set ts=3
	3	set showmode
	4	set noautoindent
	5	set encoding=utf-8
	6
	7	" Sets the color scheme to something easier on my eyes.
	8	colo evening
	9
	10	" Only do this part when compiled with support for autocommands.
	11	if has("autocmd")
	12	" When editing a file, always jump to the last known cursor position.
	13	" Don't do it when the position is invalid or when inside an event handler
	14	" (happens when dropping a file on gvim).
	15	autocmd BufReadPost *
	16	\ if line("'\"") > 0 && line("'\"") <= line("$") |
	17	\ exe "normal g`\"" |
	18	\ endif
	19
	20	endif " has("autocmd")
	21
	22	" /etc/vimrc ends here

indigo/ros-base/stop.sh +14 -0

…	…	@@ -0,0 +1,14 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep ros-base |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container.. '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep ros-base`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing.. '
	13	docker rm ros-base
	14	fi

indigo/ros-blender/Dockerfile +62 -0

…	…	@@ -0,0 +1,62 @@
	1	#
	2	# Docker file for base ROS+Blender install
	3	# No ROS nodes are started.
	4	#
	5	# The primary difficulty here is that Blender wants Python3
	6	# while ROS wants Python2, and so there are install conflicts.
	7	#
	8	# To build:
	9	# docker build -t opencog/ros-indigo-blender .
	10	#
	11	# To run:
	12	# docker run --rm --privileged -i -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 \
	13	# -v /dev/dri:/dev/dri -v /dev/shm:/dev/shm -e DISPLAY=:0.0 \
	14	# -t opencog/ros-indigo-blender
	15	#
	16	# The above should be sufficient to get blender running with full
	17	# 3D hardware acceleration on the local host (dri==direct rendering interface)
	18	# Note: /dev/dri=gpu, /dev/shm=gpu
	19	#
	20	FROM opencog/ros-indigo-base
	21	MAINTAINER Mandeep Singh Bhatia "mandeep.singh.bhatia@gmail.com"
	22	MAINTAINER David Hart "dhart@opencog.org"
	23	MAINTAINER Linas Vepštas "linasvepstas@gmail.com"
	24
	25	ENV LAST_OS_UPDATE 2015-11-25
	26
	27	# Get blender version 2.71; the default in trusty is 2.69, and lighting
	28	# looks wrong in it. The one in ppa:thomas-schiex is 2.75, and gestures
	29	# don't work with that version.
	30	# RUN add-apt-repository ppa:thomas-schiex/blender
	31	RUN add-apt-repository ppa:irie/blender
	32	RUN apt-get -y update
	33	RUN apt-get -y upgrade
	34
	35	# Blender with dependencies
	36	# Install x11-utils to get xdpyinfo, for X11 display debugging
	37	# mesa-utils provides glxinfo, handy for understanding the 3D support.
	38	# Blender needs python3
	39	RUN apt-get -y install blender x11-utils mesa-utils python3-yaml python3-pip
	40
	41	# We perform some magic incantations to allow ROS (which normally
	42	# expects python2) to happily co-exist with python3. Yes, its odd
	43	# to do this here, but here is where we first install python3.
	44	RUN pip3 install rospkg catkin_pkg
	45
	46	WORKDIR /catkin_ws/src
	47	RUN cp /opt/ros/indigo/setup.sh /etc/profile.d/ros_indigo.sh
	48	ENV PYTHONPATH /opt/ros/indigo/lib/python2.7/dist-packages
	49	RUN /usr/bin/python3 /opt/ros/indigo/bin/catkin_init_workspace
	50
	51	# Must run catkin at least once, even if there is nothing to build;
	52	# it creates the needed directory structure and the needed setup.sh.
	53	WORKDIR /catkin_ws
	54	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make"
	55
	56	# Empty ROS Enviroment Setup
	57	# The user is root; so ~/.bash_profile is /root/.bash_profile
	58	RUN echo source /catkin_ws/devel/setup.bash >> ~/.bash_profile && \
	59	echo -e "\e[1;34m[$SELF_NAME] catkin devel setup\.bash sourced\e[0m"
	60
	61	ENV DISPLAY :0.0
	62	CMD /bin/bash

indigo/ros-blender/README.md +18 -0

…	…	@@ -0,0 +1,18 @@
	1	ros-indigo-blender
	2	==================
	3
	4	A docker image that installs both ROS and blender, for demoing
	5	ROS-controlled blender animations. The image holds only the base
	6	packages needed for running blender and ROS together; no actual ROS
	7	nodes are started, no blender animations are run.
	8
	9	## Building
	10
	11	Run the `build.sh` file in this directory. You need to have built
	12	the base ROS image (in the `../ros-base` directory) first.
	13
	14	## Testing
	15	To verify that blender works, run the `run.sh` shell script.
	16	This should result in a shell prompt inside the docker container.
	17	You can start blender simply by saying `blender`; it should display
	18	on your desktop.

indigo/ros-blender/build.sh +7 -0

…	…	@@ -0,0 +1,7 @@
	1	#! /bin/bash
	2	#
	3	# build.sh
	4	#
	5	# Build this docker image.
	6	#
	7	docker build -t opencog/ros-indigo-blender .

indigo/ros-blender/run.sh +16 -0

…	…	@@ -0,0 +1,16 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Enable local, non-network connections to X-Server
	8	xhost +local:root
	9
	10	docker run --name="ros-blender" \
	11	-p 11311:11311 \
	12	--privileged -i -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 \
	13	-v /dev/dri:/dev/dri -v /dev/shm:/dev/shm -e DISPLAY=:0.0 \
	14	-t opencog/ros-indigo-blender
	15
	16	xhost -local:root

indigo/ros-blender/stop.sh +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep ros-blender |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container.. '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep ros-blender`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing.. '
	13	docker rm ros-blender
	14	fi
	15
	16	# Disable local X11 connections, just in case.
	17	xhost -local:root

indigo/ros-incog-blender/Dockerfile +64 -0

…	…	@@ -0,0 +1,64 @@
	1	#
	2	# Docker file for base ROS+OpenCog+Blender install
	3	# The CogServer is not started; no ROS nodes are started.
	4	#
	5	# XXX THIS IS IDENTICAL TO the ros-indigo-blender DOCKERFILE,
	6	# XXX EXCEPT THAT A DIFFERENT BASE IS USED!
	7	# XXX Please try to keep it that way!
	8	#
	9	# The primary difficulty here is that Blender wants Python3
	10	# while ROS wants Python2, and so there are install conflicts.
	11	#
	12	# To build:
	13	# docker build -t opencog/ros-incog-blender .
	14	#
	15	# To run:
	16	# docker run --rm --privileged -i -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 \
	17	# -v /dev/dri:/dev/dri -v /dev/shm:/dev/shm -e DISPLAY=:0.0 \
	18	# -t opencog/ros-incog-blender
	19	#
	20	# The above should be sufficient to get blender running with full
	21	# 3D hardware acceleration on the local host (dri==direct rendering interface)
	22	# Note: /dev/dri=gpu, /dev/shm=gpu
	23	#
	24	FROM opencog/ros-indigo-opencog
	25	MAINTAINER Linas Vepštas "linasvepstas@gmail.com"
	26
	27	ENV LAST_OS_UPDATE 2015-11-25
	28
	29	# Get blender version 2.71; the default in trusty is 2.69, and lighting
	30	# looks wrong in it. The one in ppa:thomas-schiex is 2.75, and gestures
	31	# don't work with that version.
	32	# RUN add-apt-repository ppa:thomas-schiex/blender
	33	RUN add-apt-repository ppa:irie/blender
	34	RUN apt-get -y update
	35	RUN apt-get -y upgrade
	36
	37	# Blender with dependencies
	38	# Install x11-utils to get xdpyinfo, for X11 display debugging
	39	# mesa-utils provides glxinfo, handy for understanding the 3D support.
	40	# Blender needs python3
	41	RUN apt-get -y install blender x11-utils mesa-utils python3-yaml python3-pip
	42
	43	# We perform some magic incantations to allow ROS (which normally
	44	# expects python2) to happily co-exist with python3. Yes, its odd
	45	# to do this here, but here is where we first install python3.
	46	RUN pip3 install rospkg catkin_pkg
	47
	48	WORKDIR /catkin_ws/src
	49	RUN cp /opt/ros/indigo/setup.sh /etc/profile.d/ros_indigo.sh
	50	ENV PYTHONPATH /opt/ros/indigo/lib/python2.7/dist-packages
	51	RUN /usr/bin/python3 /opt/ros/indigo/bin/catkin_init_workspace
	52
	53	# Must run catkin at least once, even if there is nothing to build;
	54	# it creates the needed directory structure and the needed setup.sh.
	55	WORKDIR /catkin_ws
	56	RUN bash -l -c "/opt/ros/indigo/bin/catkin_make"
	57
	58	# Empty ROS Enviroment Setup
	59	# The user is root; so ~/.bash_profile is /root/.bash_profile
	60	RUN echo source /catkin_ws/devel/setup.bash >> ~/.bash_profile && \
	61	echo -e "\e[1;34m[$SELF_NAME] catkin devel setup\.bash sourced\e[0m"
	62
	63	ENV DISPLAY :0.0
	64	CMD /bin/bash

indigo/ros-incog-blender/README.md +18 -0

…	…	@@ -0,0 +1,18 @@
	1	ros-incog-blender
	2	=================
	3
	4	A docker image that installs ROS, OpenCog and blender. The image holds
	5	only the base packages needed for running OpenCog, blender and ROS
	6	together; no actual ROS nodes are started, the CogServer is not started,
	7	and no blender animations are run.
	8
	9	## Building
	10
	11	Run the `build.sh` file in this directory. You need to have built
	12	the opencog image (in the `../ros-opencog` directory) first.
	13
	14	## Testing
	15	To verify that blender works, run the `run.sh` shell script.
	16	This should result in a shell prompt inside the docker container.
	17	You can start blender simply by saying `blender`; it should display
	18	on your desktop.

indigo/ros-incog-blender/build.sh +7 -0

…	…	@@ -0,0 +1,7 @@
	1	#! /bin/bash
	2	#
	3	# build.sh
	4	#
	5	# Build this docker image.
	6	#
	7	docker build -t opencog/ros-incog-blender .

indigo/ros-incog-blender/run.sh +16 -0

…	…	@@ -0,0 +1,16 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Enable local, non-network connections to X-Server
	8	xhost +local:root
	9
	10	docker run --name="opencog-incog-blender" \
	11	-p 11311:11311 \
	12	--privileged -i -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 \
	13	-v /dev/dri:/dev/dri -v /dev/shm:/dev/shm -e DISPLAY=:0.0 \
	14	-t opencog/ros-incog-blender
	15
	16	xhost -local:root

indigo/ros-incog-blender/stop.sh +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep opencog-incog-blender |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container.. '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep opencog-incog-blender`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing.. '
	13	docker rm opencog-incog-blender
	14	fi
	15
	16	# Disable local X11 connections, just in case.
	17	xhost -local:root

indigo/ros-opencog/Dockerfile +163 -0

…	…	@@ -0,0 +1,163 @@
	1	#
	2	# Container for ROS+OpenCog
	3	#
	4	# To build:
	5	# sudo docker build -t opencog/ros-indigo-opencog .
	6	#
	7	FROM opencog/ros-indigo-base
	8	MAINTAINER Linas Vepštas "linasvepstas@gmail.com"
	9
	10	# Install required packages
	11	ENV LAST_OS_UPDATE 2016-02-18
	12	RUN apt-get -y update
	13	RUN apt-get -y upgrade
	14	# Base stuff for cogutil. All on one line, to avoid error
	15	# `Cannot create container with more than 127 parents`
	16	RUN apt-get -y install gcc g++ cmake binutils-dev libiberty-dev \
	17	libboost-dev libboost-date-time-dev libboost-filesystem-dev \
	18	libboost-program-options-dev libboost-regex-dev \
	19	libboost-serialization-dev libboost-system-dev libboost-thread-dev \
	20	cxxtest
	21
	22	# Additional stuff needed to build and run relex.
	23	RUN apt-get -y install wordnet-dev wordnet-sense-index openjdk-7-jdk \
	24	ant libcommons-logging-java libgetopt-java
	25
	26	# Additional stuff for the AtomSpace: cython and guile and ODBC.
	27	# Additional stuff for OpenCog. We need telnet as a debug utility.
	28	# Need wget to download link-grammar source.
	29	# Need unzip to unzip JWNL.
	30	RUN apt-get -y install guile-2.0-dev cython unixodbc-dev odbc-postgresql \
	31	wget telnet locales rlwrap unzip
	32
	33	# -------------------------------------------------------------
	34	# Right now, just clone the OpenCog sources. They will be built
	35	# later on.
	36	WORKDIR /opencog
	37	RUN git clone https://github.com/opencog/cogutil.git
	38	RUN git clone https://github.com/opencog/atomspace.git
	39	RUN git clone https://github.com/opencog/opencog.git
	40	RUN git clone https://github.com/opencog/relex.git
	41
	42	# -------------------------------------------------------------
	43	# Download and install JWNL; its needed for relex.
	44	WORKDIR /src
	45	RUN wget http://downloads.sourceforge.net/project/jwordnet/jwnl/JWNL%201.4/jwnl14-rc2.zip
	46	RUN (unzip jwnl14-rc2.zip jwnl14-rc2/jwnl.jar ; \
	47	mkdir /usr/local/share/java ; \
	48	mv -v jwnl14-rc2/jwnl.jar /usr/local/share/java ; \
	49	rm -v jwnl14-rc2.zip ; rmdir jwnl14-rc2 ; \
	50	chmod -v 0644 /usr/local/share/java/jwnl.jar)
	51
	52	# -------------------------------------------------------------
	53	# Download and build Link Grammar. Its needed for Sureal,
	54	# the language generation component of opencog.
	55	WORKDIR /src
	56
	57	# Touch this tag to grab the latest version of LinkGrammar.
	58	ENV LAST_LG_UPDATE 2016-02-18
	59
	60	# Download the current released version of link-grammar.
	61	# We do NOT want to git-clone this; the git version is unstable;
	62	# it also requires extra tools and mish-mash to build it.
	63	# RUN http://www.abisource.com/downloads/link-grammar/current/link-grammar-5*.tar.gz
	64	# The wget tries to guess the correct file to download w/ wildcard
	65	# But that won't work.
	66	RUN wget -r --no-parent -nH --cut-dirs=2 http://www.abisource.com/downloads/link-grammar/current/
	67
	68	# Unpack the sources, too.
	69	RUN tar -zxf current/link-grammar-5*.tar.gz
	70
	71	# Need the locales for utf8
	72	RUN (echo "en_US.UTF-8 UTF-8" > /etc/locale.gen && \
	73	echo "ru_RU.UTF-8 UTF-8" >> /etc/locale.gen && \
	74	echo "he_IL.UTF-8 UTF-8" >> /etc/locale.gen && \
	75	echo "de_DE.UTF-8 UTF-8" >> /etc/locale.gen && \
	76	echo "lt_LT.UTF-8 UTF-8" >> /etc/locale.gen && \
	77	echo "fa_IR.UTF-8 UTF-8" >> /etc/locale.gen && \
	78	echo "ar_AE.UTF-8 UTF-8" >> /etc/locale.gen && \
	79	echo "kk_KZ.UTF-8 UTF-8" >> /etc/locale.gen && \
	80	echo "tr_TR.UTF-8 UTF-8" >> /etc/locale.gen)
	81
	82	# WTF. In debian wheezy, it is enough to just say locale-gen without
	83	# any arguments. But in trusty, we eneed to be explicit. I'm confused.
	84	# RUN locale-gen
	85	# Note also: under trusty, fa_IR.UTF-8 causes locale-gen to fail,
	86	# must use the naked fa_IR
	87	# Note also: Kazakh is kk_KZ not kz_KZ
	88	RUN locale-gen en_US.UTF-8 ru_RU.UTF-8 he_IL.UTF-8 \
	89	de_DE.UTF-8 lt_LT.UTF-8 fa_IR ar_AE.UTF-8 kk_KZ.UTF-8 tr_TR.UTF-8
	90
	91	# Build the libraries and command-line parser only
	92	# Assumes that the sources have already been unpacked.
	93	RUN (cd link-grammar-5*; mkdir build; cd build; \
	94	../configure; make -j12; make install; ldconfig)
	95
	96	RUN adduser --disabled-password --gecos "Link Parser User" link-parser
	97
	98	USER link-parser
	99	RUN (cd /home/link-parser; echo "export LANG=en_US.UTF-8" >> .bash_aliases)
	100	CMD bash
	101
	102	RUN export LANG=en_US.UTF-8
	103
	104	# -------------------------------------------------------------
	105	USER root
	106	WORKDIR /opencog
	107
	108	# Change line below on rebuild. Will use Docker cache up to this line,
	109	# twigging this date will update the opencog sources.
	110	ENV LAST_SOFTWARE_UPDATE 2016-03-10
	111
	112	# Git pull for all packages
	113	RUN cd /opencog/ && find . -maxdepth 1 -mindepth 1 -type d \
	114	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	115
	116	# Build the base software.
	117	RUN (mkdir /opencog/cogutil/build; cd /opencog/cogutil/build; \
	118	cmake ..; make -j6; make install)
	119	RUN (mkdir /opencog/atomspace/build; cd /opencog/atomspace/build; \
	120	cmake ..; make -j12; make install)
	121	RUN (mkdir /opencog/opencog/build; cd /opencog/opencog/build; \
	122	cmake ..; make -j12; make install)
	123	RUN (cd /opencog/relex; ant build; ant install)
	124
	125	# Build the unit tests. This is .. optional, but we do it anyway,
	126	# for right now, just to sanity-check things.
	127	# WORKDIR /opencog/cogutil/build
	128	# RUN bash -l -c "make -j6 tests"
	129	#
	130	# WORKDIR /opencog/atomspace/build
	131	# RUN bash -l -c "make -j12 tests"
	132	#
	133	# WORKDIR /opencog/opencog/build
	134	# RUN bash -l -c "make -j12 tests"
	135	#
	136	COPY /scripts/.guile /root/
	137	COPY /scripts/unit-test.sh /root/
	138	COPY /scripts/tmux.sh /root/
	139
	140	# Pre-compile the guile modules. We could say `guild comple ...`, but
	141	# this is easier. This avoids fly compilation during container start.
	142	RUN (bash -l -c "echo \"(use-modules (opencog))\" | guile ; \
	143	echo \"(use-modules (opencog exec))\" | guile ; \
	144	echo \"(use-modules (opencog logger))\" | guile ; \
	145	echo \"(use-modules (opencog persist))\" | guile ; \
	146	echo \"(use-modules (opencog persist-sql))\" | guile ; \
	147	echo \"(use-modules (opencog query))\" | guile ; \
	148	echo \"(use-modules (opencog rule-engine))\" | guile ; \
	149	echo \"(use-modules (opencog atom-types))\" | guile ; \
	150	echo \"(use-modules (opencog cogserver))\" | guile ; \
	151	echo \"(use-modules (opencog nlp))\" | guile ; \
	152	echo \"(use-modules (opencog nlp chatbot))\" | guile ; \
	153	echo \"(use-modules (opencog nlp chatbot-eva))\" | guile ; \
	154	echo \"(use-modules (opencog nlp fuzzy))\" | guile ; \
	155	echo \"(use-modules (opencog nlp lg-dict))\" | guile ; \
	156	echo \"(use-modules (opencog nlp microplanning))\" | guile ; \
	157	echo \"(use-modules (opencog nlp relex2logic))\" | guile ; \
	158	echo \"(use-modules (opencog nlp sureal))\" | guile ")
	159
	160	WORKDIR /root
	161	# ENTRYPOINT bash -l -c "./unit-test.sh; bash"
	162	ENTRYPOINT bash -l -c "./tmux.sh; bash"
	163	# CMD /bin/bash

indigo/ros-opencog/README.md +36 -0

…	…	@@ -0,0 +1,36 @@
	1	ros-opencog
	2	============
	3
	4	A docker image that installs both ROS and OpenCog. The image holds
	5	only the base packages needed for running OpenCog and ROS together;
	6	The CogServer is not started, no ROS nodes are started.
	7
	8	## Building
	9
	10	Run the `build.sh` file in this directory. You need to have built
	11	the base ROS image (in the `../ros-base` directory) first.
	12
	13	## Testing
	14	To verify that OpenCog works, run the `run.sh` shell script.
	15	This will create a tmux (byobu) session inside the docker container.
	16	There are several things you can try:
	17
	18	* Navigate to the build directories in `/opencog` and run the unit
	19	tests there.
	20
	21	* Start `guile` at the prompt, and then try `(use-modules (opencog))`
	22
	23	* Try starting the cogserver! At the guile prompt:
	24	```
	25	(use-modules (opencog) (opencog cogserver))
	26	(start-cogserver)
	27	(Concept "foobar" (stv 0.5 0.8))
	28	```
	29	Then from another tmux prompt:
	30	```
	31	telnet localhost 17001
	32	(use-modules (opencog))
	33	(cog-node 'ConceptNode "foobar")
	34	```
	35	The above should display `(ConceptNode "foobar" (stv 0.5 0.80000001))`.
	36	of course!

indigo/ros-opencog/build.sh +5 -0

…	…	@@ -0,0 +1,5 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for ros-opencog
	4	#
	5	docker build -t opencog/ros-indigo-opencog .

indigo/ros-opencog/run.sh +9 -0

…	…	@@ -0,0 +1,9 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	docker run --name="cog-ros" -it opencog/ros-indigo-opencog
	8
	9	clear

indigo/ros-opencog/scripts/.guile +14 -0

…	…	@@ -0,0 +1,14 @@
	1	;
	2	; .guile -- commands to execute on guile REPL startup.
	3	;
	4	;; rlb's method for activiting realine ...
	5	(use-modules (ice-9 readline))
	6	(activate-readline)
	7
	8	(debug-enable 'backtrace)
	9	;; (debug-enable 'debug)
	10
	11	; Record positions of source code expressions.
	12	(read-enable 'positions)
	13
	14	(add-to-load-path "/usr/local/share/opencog/scm")

indigo/ros-opencog/scripts/tmux.sh +20 -0

…	…	@@ -0,0 +1,20 @@
	1	#! /bin/bash
	2	#
	3	# tmux.sh
	4	#
	5	# Run some tmux (byobu) terminals.
	6	#
	7	# Use byobu so that the scroll bars actually work
	8	byobu new-session -d -n 'bash' '$SHELL'
	9
	10	tmux new-window -n 'b2' '$SHELL'
	11	tmux new-window -n 'b3' '$SHELL'
	12	tmux new-window -n 'b4' '$SHELL'
	13
	14	# Spare-usage shell
	15	tmux new-window -n 'bash' '$SHELL'
	16
	17	# Fix the annoying byobu display
	18	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	19	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	20	tmux attach

indigo/ros-opencog/scripts/unit-test.sh +25 -0

…	…	@@ -0,0 +1,25 @@
	1	#! /bin/bash
	2	#
	3	# unit-test.sh
	4	#
	5	# Run the OpenCog unit tests on container startup.
	6	# Provide a spare teminal in the meanwhile.
	7	#
	8	echo "Will Run OpenCog unit tests..."
	9
	10	# Use byobu so that the scroll bars actually work
	11	byobu new-session -d -n 'bash' '$SHELL'
	12
	13	tmux new-window -n 'utils' 'cd /opencog/cogutil/build && make test; $SHELL'
	14	tmux new-window -n 'atoms' 'cd /opencog/atomspace/build && make test; $SHELL'
	15	tmux new-window -n 'servr' 'cd /opencog/opencog/build && make test; $SHELL'
	16
	17	# Spare-usage shell
	18	tmux new-window -n 'bash' '$SHELL'
	19
	20	# Fix the annoying byobu display
	21	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	22	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	23	tmux attach
	24
	25	echo "Started"

indigo/ros-opencog/stop.sh +14 -0

…	…	@@ -0,0 +1,14 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep cog-ros |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container... '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep cog-ros`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing... '
	13	docker rm cog-ros
	14	fi

indigo/zenorsm/Dockerfile +114 -0

…	…	@@ -0,0 +1,114 @@
	1	# docker build -t opencog/ros-indigo-zenorsm .
	2	# xhost +
	3	# docker run --rm --privileged -i -v /dev/ttyACM0:/dev/ttyACM0 -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri -v /dev/shm:/dev/shm -e DISPLAY=:0.0 -p 33433:33433/udp -t opencog/ros-indigo-zenorsm
	4	# Note: port 33433=faceshift, /dev/ttyACM0=pololu, /dev/dri=gpu, /dev/shm=gpu
	5	# ToDo: add MORSE robot simulator
	6	# replace faceshift with OpenCV FaceRecognizer, etc.
	7
	8	FROM opencog/ros-indigo-dev
	9	MAINTAINER Mandeep Singh Bhatia "mandeep.singh.bhatia@gmail.com"
	10	MAINTAINER David Hart "dhart@opencog.org"
	11
	12	RUN apt-get -y update
	13	RUN apt-get -y install blender
	14
	15	RUN apt-get -y install python3-yaml python3-pip
	16	RUN pip3 install rospkg catkin_pkg
	17
	18	RUN echo source /catkin_ws/devel/setup.bash >> /.bash_profile && \
	19	echo -e "\e[1;34m[$SELF_NAME] catkin devel setup\.bash sourced\e[0m"
	20
	21	# Install ITFTalk and prerequisites
	22	WORKDIR /catkin_ws/src
	23	RUN apt-get -y install mplayer python-pycurl libcurl3
	24	RUN apt-get install libavbin-dev libavbin0
	25
	26	RUN git clone https://github.com/geni-lab/ITFTalk
	27
	28	# Install ITFListen and prerequisites
	29	WORKDIR /catkin_ws/src
	30	RUN apt-get -y install sox python-simplejson
	31	RUN git clone https://github.com/geni-lab/ITFListen
	32
	33	# Install ITFParrot to test ITFListen -> ITFTalk
	34	WORKDIR /catkin_ws/src
	35	RUN git clone https://github.com/geni-lab/ITFParrot
	36
	37	# I figured it'd be undesirable to auto-start the aprrot, so
	38	# to Run ITFParrot, go to /catkin_ws and then run:
	39	# source devel/setup.bash
	40	# rosrun itf_parrot itf_parrot.py
	41
	42	# Install openEAR prerequisites
	43	RUN apt-get -y install autoconf libtool g++ libportaudio2
	44
	45	# Download ROS-enabled version of openEAR
	46	# WORKDIR /
	47	# Line below is needed otherwise it keeps saying ros_open_ear exists
	48	# and is not empty
	49	# RUN rm -rf /ros_open_ear
	50	# RUN git clone https://github.com/Alex-van-der-Peet/ros_open_ear
	51
	52	# Unpack, make and install portaudio (openEAR prerequisite)
	53	# WORKDIR /ros_open_ear/thirdparty
	54	# RUN tar -xvf portaudio.tgz
	55	# WORKDIR /ros_open_ear/thirdparty/portaudio
	56	# RUN ./configure
	57	# RUN make
	58	# RUN make install
	59
	60	# Configure, build and install the modified version of openEAR
	61	# WORKDIR /ros_open_ear
	62	# Double run below is on purpose
	63	# ENV C_INCLUDE_PATH /opt/ros/indigo/include/ros:/opt/ros/indigo/include
	64	# RUN ./autogen.sh
	65	# RUN ./autogen.sh
	66	# RUN ./configure
	67	# RUN apt-get install libc6-dev build-essential
	68	# RUN echo "C_INCLUDEPATH=$C_INCLUDE_PATH"
	69	# RUN make
	70	# RUN make install
	71
	72	WORKDIR /catkin_ws/src
	73	RUN cp /opt/ros/indigo/setup.sh /etc/profile.d/ros_indigo.sh
	74	ENV PYTHONPATH /opt/ros/indigo/lib/python2.7/dist-packages
	75	RUN /usr/bin/python3 /opt/ros/indigo/bin/catkin_init_workspace
	76
	77	RUN git clone https://github.com/hansonrobotics/robo_blender
	78	RUN git clone https://github.com/yantrabuddhi/ros_pololu_servo
	79	# RUN git clone https://github.com/yantrabuddhi/ros_nmpt_saliency
	80	# Mandeep's saliency tracker above doesn't work, so I'm using the one I made
	81	# which is stored in Jamie's repo - Alex
	82	RUN git clone https://github.com/jdddog/ros_nmpt_saliency
	83	RUN git clone https://github.com/yantrabuddhi/ros_faceshift
	84	RUN git clone https://github.com/yantrabuddhi/simple_face_tracker
	85	#RUN git clone https://github.com/OctoMap/octomap
	86	#RUN git clone https://github.com/Alex-van-der-Peet/ITFOpenEar
	87
	88	WORKDIR /catkin_ws
	89	RUN bash -l -c "/usr/bin/python3 /opt/ros/indigo/bin/catkin_make"
	90
	91	WORKDIR /catkin_ws/src/robo_blender/src
	92
	93	ENV STARTSCRIPT "\
	94	echo evaluating startup script... &&\
	95	source /catkin_ws/devel/setup.bash &&\
	96	tmux new-session -d 'echo -e \"\e[1;34mroscore\e[0m\" ; roscore' &&\
	97	tmux set -g set-remain-on-exit on &&\
	98	tmux set-option -g set-remain-on-exit on &&\
	99	tmux bind-key R respawn-window &&\
	100	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mros_pololu_servo\e[0m\" ;\
	101	rosrun ros_pololu_servo ros_pololu_servo_node' &&\
	102	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mblender robo.blend\e[0m\" ;\
	103	sleep 4 && blender robo.blend' &&\
	104	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mbash shell\e[0m\" ;\
	105	bash -l -i' &&\
	106	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mros_itf_talk\e[0m\" ;\
	107	rosrun itf_talk itf_talk.py' &&\
	108	tmux split-window -d -v -p 25 'echo -e \"\e[1;34mros_itf_listen\e[0m\" ;\
	109	rosrun itf_listen itf_listen.py' &&\
	110	tmux select-layout even-vertical &&\
	111	tmux attach \
	112	"
	113
	114	CMD /bin/bash -l -c "eval $STARTSCRIPT"

indigo/zenorsm/README.md +10 -0

…	…	@@ -0,0 +1,10 @@
	1	ros-indigo-zenorsm
	2	==================
	3
	4	Based on (copied from) ros-indigo-blender.
	5
	6	An integrated development container for teleoperating Hanson Robotics' small
	7	Einstein head. This container was demo'd at ROS Kong 2014 by David Hanson.
	8
	9	The Einstein head contains servos driven by a Pololu board and controlled
	10	via Blender. Saliency detection is TBD.

noetic/README.txt +37 -0

…	…	@@ -0,0 +1,37 @@
	1	Status of ROS noetic port and bit rot removal
	2	==============================================
	3	This project so far is in the Roadmap 1 stage. See below.
	4
	5	Dependencies
	6	============
	7
	8	eva-ros --> ros-blender --------------------------
	9	\
	10	\
	11	eva-silent ---- \
	12	\ \
	13	v v
	14	eva-opencog --> ros-incog-blender --> ros-opencog --> ros-base
	15
	16
	17	Roadmap
	18	=======
	19	1. eva-ros builds
	20	(will need to replace the vision / face detection subsystem - Done!)
	21	ISSUES:
	22	- the "roslaunch robots_config geometry.launch" fails to start
	23	- blender has issues: NOSE bone missing? dependency cycles ...
	24	Sophia has no eyes?
	25	2. eva-ros works
	26	ISSUES:
	27	not started
	28	4. eva-silent builds & works
	29	ISSUES:
	30	not started
	31	5. eva-opencog builds & works
	32	ISSUES:
	33	not started
	34
	35	For Further Reading
	36	===================
	37	See the README.md in ../indigo

noetic/eva-ros/Dockerfile +74 -0

…	…	@@ -0,0 +1,74 @@
	1	#
	2	# Container for the Hanson Robotics Eva blender rig ROS node, and
	3	# the ROS vision subsystem. It does not include behaviors or a
	4	# chatbot. On launch, it will start roscore, blender, and the vision
	5	# (face-detection) subsystem, but will not perform any behaviors.
	6	#
	7	# To build:
	8	# sudo docker build -t opencog/eva-ros .
	9	#
	10	FROM opencog/ros-noetic-blender
	11	MAINTAINER Mark Wigzell "markwigzell@gmail.com"
	12
	13	# Install required packages
	14	ENV LAST_OS_UPDATE 2022-02-25
	15	RUN apt-get -y update
	16	RUN apt-get -y upgrade
	17	RUN apt-get -y install ros-noetic-tf ros-noetic-driver-common
	18	RUN apt-get -y install ros-noetic-cv-bridge ros-noetic-image-transport
	19	RUN apt-get -y install ros-noetic-usb-cam
	20	# The below are needed by perception node
	21	RUN apt-get -y install ros-noetic-robot-state-publisher
	22	RUN apt-get -y install ros-noetic-joint-state-publisher
	23	RUN apt-get -y install ros-noetic-joint-state-publisher-gui
	24
	25	# Install catkinized packages
	26	WORKDIR /catkin_ws/src
	27
	28	RUN git clone https://github.com/opencog/pi_vision.git
	29	RUN git clone https://github.com/opencog/perception.git
	30	RUN git clone https://github.com/opencog/blender_api_msgs.git
	31	RUN git clone https://github.com/opencog/blender_api.git
	32
	33	# The pau2motors package defines the PAU messages, which are
	34	# needed by the perception (vision-geometry) module.
	35	RUN git clone https://github.com/opencog/pau2motors.git
	36	RUN git clone https://github.com/opencog/robots_config.git
	37
	38	# The OpenCog github account mirrors all of the Hanson Robotics
	39	# software. At this time, the two are in sync with each-other.
	40	# RUN git clone https://github.com/opencog/pi_vision.git
	41	# RUN git clone https://github.com/opencog/perception.git
	42	# RUN git clone https://github.com/opencog/blender_api_msgs.git
	43	# RUN git clone https://github.com/opencog/blender_api.git
	44	# RUN git clone https://github.com/opencog/pau2motors.git
	45	# RUN git clone https://github.com/opencog/robots_config.git
	46
	47	# Change line below on rebuild. Will use cache up to this line
	48	ENV LAST_SOFTWARE_UPDATE 2022-02-25
	49
	50	# Git pull for all packages
	51	RUN cd /catkin_ws/src/ && find . -maxdepth 1 -mindepth 1 -type d \
	52	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	53
	54	# The blender API has not been fully catkinized yet.
	55	RUN pip3 install ./blender_api_msgs/ dlib
	56	# crappy python. Do we have to switch all our calls whenever python has major release?
	57	RUN ln -s /usr/bin/python3 /usr/bin/python
	58
	59	# build the catkin packages. Run twice for good measure.
	60	# (some may fail first time due to bad deps)
	61	WORKDIR /catkin_ws
	62	RUN bash -l -c "/opt/ros/noetic/bin/catkin_make" || true
	63	RUN bash -l -c "/opt/ros/noetic/bin/catkin_make"
	64
	65	RUN echo source /catkin_ws/devel/setup.bash >> ~/.bashrc
	66
	67	COPY /scripts/eva.sh /catkin_ws/eva.sh
	68	COPY /scripts/sophia.sh /catkin_ws/sophia.sh
	69
	70	# Ports exposed
	71	# 11311 is roscore
	72	EXPOSE 11311
	73
	74	ENTRYPOINT bash -l -c "./sophia.sh; bash"

noetic/eva-ros/README.md +28 -0

…	…	@@ -0,0 +1,28 @@
	1	eva-ros
	2	=======
	3
	4	An image containing the Hanson Robotics Eva blender rig, and the ROS
	5	vision subsystem. It does not contain any parts of OpenCog, or a
	6	chatbot, nor any behavior controls; its just blender+vision.
	7
	8	The data processing pipeline consists of:
	9	* A ROS node that takes video input from a UVC-compatible USB webcam
	10	(most typical desktop/laptop cameras are compatible).
	11	* A ROS node that does face detection: it tries to find human faces in
	12	the video feed.
	13	* A ROS node that maps the face postions to a 3D coordinate system.
	14	* A ROS node that runs the Eva blender rig itself (i.e. uses blender
	15	to draw/animate Eva).
	16	* A ROS node that converts PAU (Physiological Action Units) into motor
	17	controls, needed for animating physical robot models.
	18
	19	## Building
	20
	21	Run the `build.sh` file in this directory. You need to have built
	22	the ros-noetic-blender image (in the `../blender` directory) first.
	23
	24	## Testing
	25	To verify that blender works, run the `run.sh` shell script.
	26	This will start blender and the half-dozen ROS nodes that control it.
	27	You should see a living, breating Eva; however, she is lobotimized:
	28	there's no brain, she cannot actually see you, and will not react.

noetic/eva-ros/build.sh +5 -0

…	…	@@ -0,0 +1,5 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for eva-ros
	4	#
	5	docker build -t opencog/eva-ros .

noetic/eva-ros/run.sh +19 -0

…	…	@@ -0,0 +1,19 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Enable local, non-network connections to X-Server
	8	xhost +local:root
	9
	10	# Assorted grunge to let X11 use the 3D graphics acceleration.
	11	# 11311 is the roscore port
	12	docker run --name="eva-ros" -p 11311:11311 \
	13	-e DISPLAY=:0.0 --privileged \
	14	-v /dev/video0:/dev/video0 -v /dev/snd:/dev/snd \
	15	-v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 -v /dev/dri:/dev/dri \
	16	-v /dev/shm:/dev/shm -it opencog/eva-ros
	17
	18	xhost -local:root
	19	#clear

noetic/eva-ros/scripts/eva.sh +32 -0

…	…	@@ -0,0 +1,32 @@
	1	#! /bin/bash
	2	#
	3	# eva.sh
	4	#
	5	# ROS + blender launch script for the Hanson Robotics Eva blender head.
	6	# This shell script is automatically started within the docker container.
	7	# It needs to run in the catkin_ws directory where the various ROS nodes
	8	# and blender models were installed. It assumes that catkin_make was
	9	# already run.
	10
	11	source devel/setup.sh
	12	echo "Starting... this will take 15-20 seconds..."
	13
	14	# Use byobu so that the scroll bars actually work
	15	byobu new-session -d -n 'roscore' 'roscore; $SHELL'
	16	sleep 4;
	17
	18	# Single Video (body) camera and face tracker
	19	tmux new-window -n 'trk' 'roslaunch robots_config tracker-single-cam.launch; $SHELL'
	20	# Publish the geometry messages
	21	tmux new-window -n 'geo' 'roslaunch robots_config geometry.launch gui:=false; $SHELL'
	22	tmux new-window -n 'eva' 'cd /catkin_ws/src/blender_api && blender -y Eva.blend -P autostart.py; $SHELL'
	23
	24	# Spare-usage shell
	25	tmux new-window -n 'bash' '$SHELL'
	26
	27	# Fix the annoying byobu display
	28	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	29	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	30	tmux attach
	31
	32	echo "Started"

noetic/eva-ros/scripts/sophia.sh +32 -0

…	…	@@ -0,0 +1,32 @@
	1	#! /bin/bash
	2	#
	3	# eva.sh
	4	#
	5	# ROS + blender launch script for the Hanson Robotics Eva blender head.
	6	# This shell script is automatically started within the docker container.
	7	# It needs to run in the catkin_ws directory where the various ROS nodes
	8	# and blender models were installed. It assumes that catkin_make was
	9	# already run.
	10
	11	source devel/setup.sh
	12	echo "Starting... this will take 15-20 seconds..."
	13
	14	# Use byobu so that the scroll bars actually work
	15	byobu new-session -d -n 'roscore' 'roscore; $SHELL'
	16	sleep 4;
	17
	18	# Single Video (body) camera and face tracker
	19	tmux new-window -n 'trk' 'roslaunch robots_config tracker-single-cam.launch; $SHELL'
	20	# Publish the geometry messages
	21	tmux new-window -n 'geo' 'roslaunch robots_config geometry.launch gui:=false; $SHELL'
	22	tmux new-window -n 'eva' 'cd /catkin_ws/src/blender_api && blender -y Sophia.blend -P autostart.py; $SHELL'
	23
	24	# Spare-usage shell
	25	tmux new-window -n 'bash' '$SHELL'
	26
	27	# Fix the annoying byobu display
	28	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	29	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	30	tmux attach
	31
	32	echo "Started"

noetic/eva-ros/stop.sh +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep eva-ros |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container... '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep eva-ros`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing... '
	13	docker rm eva-ros
	14	fi
	15
	16	# Disable local X11 connections, just in case.
	17	xhost -local:root

noetic/ros-base/Dockerfile +52 -0

…	…	@@ -0,0 +1,52 @@
	1	#
	2	# Base ROS noetic installation.
	3	# Bare bones install; does not launch any nodes.
	4	#
	5	# To build:
	6	# docker build -t opencog/ros-noetic-base .
	7	#
	8	# To run:
	9	# docker run --rm --name="noetic-base" -i -t opencog/ros-noetic-base
	10	#
	11	FROM ubuntu:20.04
	12	MAINTAINER Mark Wigzell "markwigzell@gmail.com"
	13
	14	# Avoid triggering apt-get dialogs (which may lead to errors). See:
	15	# http://stackoverflow.com/questions/25019183/docker-java7-install-fail
	16	ENV DEBIAN_FRONTEND noninteractive
	17
	18	ENV LAST_OS_UPDATE 2022-02-25_2
	19	RUN apt-get -y upgrade
	20	RUN apt-get -y update
	21	RUN apt-get -y install iproute2 iputils-ping apt-utils
	22
	23	# Need software-properties-common for `add-apt-repository` command
	24	RUN apt-get -y install wget software-properties-common sudo
	25	RUN apt-get -y install --no-install-recommends xserver-xorg-core xauth x11-apps x11-utils
	26	RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
	27	RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list
	28	RUN apt-get -y update
	29	#
	30	# Most robot bringup will require git-cloning the working repos.
	31	# Need byobu+tmux for ROS terminal control.
	32	# Need vim so that we can do at least some basic debugging.
	33	RUN apt-get -y install ros-noetic-ros-base ros-noetic-angles
	34	RUN apt-get -y install git tmux byobu vim
	35
	36	# Make vim be usable instead of insane.
	37	COPY /scripts/.vimrc /root/
	38
	39	# Environment Variables
	40	## Set Locale -- Catkin crashes on Krisčiunas, Mickevičius without this.
	41	RUN apt-get -y install locales
	42	RUN locale-gen en_US.UTF-8
	43	ENV LANG en_US.UTF-8
	44	ENV LANGUAGE en_US:en
	45	ENV LC_ALL en_US.UTF-8
	46
	47	RUN apt-get -y install python3-pip
	48	RUN pip install -U rosdep
	49	RUN rosdep init
	50	RUN rosdep update
	51	RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
	52	CMD /bin/bash

noetic/ros-base/README.md +17 -0

…	…	@@ -0,0 +1,17 @@
	1	ros-noetic-base
	2	===============
	3
	4	The base image for building other docker imagess that use ROS. The
	5	container installs and configures a fair variety of ROS packages
	6	needed for running ROS nodes. No actual ROS nodes are started.
	7
	8	## Building
	9
	10	Run the `build.sh` file in this directory. You need to have first
	11	obtained (downloaded) the ubuntu:14.04 image from Docker.
	12
	13	## Testing
	14	To verify that things works, run the `run.sh` shell script.
	15	This should result in a shell prompt inside the docker container.
	16	You can start roscore simply by saying `roscore`. Of course, roscore
	17	by itself, does not do anything interesting...

noetic/ros-base/build.sh +7 -0

…	…	@@ -0,0 +1,7 @@
	1	#! /bin/bash
	2	#
	3	# build.sh
	4	#
	5	# Build the base image images.
	6	#
	7	docker build -t opencog/ros-noetic-base .

noetic/ros-base/run.sh +11 -0

…	…	@@ -0,0 +1,11 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Just for fun, we will export the roscore port 11311 out of the
	8	# container. That way, if you run roscore inside the container,
	9	# and you can `rostopic list` outside of it!
	10	docker run --name="ros-base" \
	11	-p 11311:11311 -it opencog/ros-noetic-base

noetic/ros-base/scripts/.vimrc +22 -0

…	…	@@ -0,0 +1,22 @@
	1	set wrapmargin=8
	2	set ts=3
	3	set showmode
	4	set noautoindent
	5	set encoding=utf-8
	6
	7	" Sets the color scheme to something easier on my eyes.
	8	colo evening
	9
	10	" Only do this part when compiled with support for autocommands.
	11	if has("autocmd")
	12	" When editing a file, always jump to the last known cursor position.
	13	" Don't do it when the position is invalid or when inside an event handler
	14	" (happens when dropping a file on gvim).
	15	autocmd BufReadPost *
	16	\ if line("'\"") > 0 && line("'\"") <= line("$") |
	17	\ exe "normal g`\"" |
	18	\ endif
	19
	20	endif " has("autocmd")
	21
	22	" /etc/vimrc ends here

noetic/ros-base/stop.sh +14 -0

…	…	@@ -0,0 +1,14 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep ros-base |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container.. '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep ros-base`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing.. '
	13	docker rm ros-base
	14	fi

noetic/ros-blender/Dockerfile +55 -0

…	…	@@ -0,0 +1,55 @@
	1	#
	2	# Docker file for base ROS+Blender install
	3	# No ROS nodes are started.
	4	#
	5	# The primary difficulty here is that Blender wants Python3
	6	# while ROS wants Python2, and so there are install conflicts.
	7	#
	8	# To build:
	9	# docker build -t opencog/ros-noetic-blender .
	10	#
	11	# To run:
	12	# docker run --rm --privileged -i -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 \
	13	# -v /dev/dri:/dev/dri -v /dev/shm:/dev/shm -e DISPLAY=:0.0 \
	14	# -t opencog/ros-noetic-blender
	15	#
	16	# The above should be sufficient to get blender running with full
	17	# 3D hardware acceleration on the local host (dri==direct rendering interface)
	18	# Note: /dev/dri=gpu, /dev/shm=gpu
	19	#
	20	FROM opencog/ros-noetic-base
	21	MAINTAINER Mark Wigzell "markwigzell@gmail.com"
	22
	23	ENV LAST_OS_UPDATE 2020-04-23
	24
	25
	26	# Blender with dependencies
	27	# Install x11-utils to get xdpyinfo, for X11 display debugging
	28	# mesa-utils provides glxinfo, handy for understanding the 3D support.
	29	# Blender needs python3
	30	RUN apt-get -y install mesa-utils python3-yaml
	31	ENV LAST_OS_UPDATE 2022-02-25_2
	32	################################################################################
	33	# ROS
	34	RUN apt-get -y install blender
	35	# We install ROS package and catkin package management
	36	RUN pip3 install rospkg catkin_pkg
	37
	38	WORKDIR /catkin_ws/src
	39	RUN cp /opt/ros/noetic/setup.sh /etc/profile.d/ros_noetic.sh
	40	RUN bash -l -c "/usr/bin/python3 /opt/ros/noetic/bin/catkin_init_workspace"
	41
	42	# Must run catkin at least once, even if there is nothing to build;
	43	# it creates the needed directory structure and the needed setup.sh.
	44	WORKDIR /catkin_ws
	45	RUN bash -l -c "/opt/ros/noetic/bin/catkin_make"
	46
	47	# Empty ROS Enviroment Setup
	48	# The user is root; so ~/.bash_profile is /root/.bash_profile
	49	RUN echo source /catkin_ws/devel/setup.bash >> ~/.bash_profile && \
	50	echo -e "\e[1;34m[$SELF_NAME] catkin devel setup\.bash sourced\e[0m"
	51	# ROS end
	52	#############################################################################
	53
	54	ENV DISPLAY :0.0
	55	CMD /bin/bash

noetic/ros-blender/README.md +18 -0

…	…	@@ -0,0 +1,18 @@
	1	ros-noetic-blender
	2	==================
	3
	4	A docker image that installs both ROS and blender, for demoing
	5	ROS-controlled blender animations. The image holds only the base
	6	packages needed for running blender and ROS together; no actual ROS
	7	nodes are started, no blender animations are run.
	8
	9	## Building
	10
	11	Run the `build.sh` file in this directory. You need to have built
	12	the base ROS image (in the `../ros-base` directory) first.
	13
	14	## Testing
	15	To verify that blender works, run the `run.sh` shell script.
	16	This should result in a shell prompt inside the docker container.
	17	You can start blender simply by saying `blender`; it should display
	18	on your desktop.

noetic/ros-blender/build.sh +7 -0

…	…	@@ -0,0 +1,7 @@
	1	#! /bin/bash
	2	#
	3	# build.sh
	4	#
	5	# Build this docker image.
	6	#
	7	docker build -t opencog/ros-noetic-blender .

noetic/ros-blender/run.sh +16 -0

…	…	@@ -0,0 +1,16 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	# Enable local, non-network connections to X-Server
	8	xhost +local:root
	9
	10	docker run --name="ros-blender" \
	11	-p 11311:11311 \
	12	--privileged -i -v /tmp/.X11-unix/X0:/tmp/.X11-unix/X0 \
	13	-v /dev/dri:/dev/dri -v /dev/shm:/dev/shm -e DISPLAY=:0.0 \
	14	-t opencog/ros-noetic-blender
	15
	16	xhost -local:root

noetic/ros-blender/stop.sh +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep ros-blender |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container.. '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep ros-blender`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing.. '
	13	docker rm ros-blender
	14	fi
	15
	16	# Disable local X11 connections, just in case.
	17	xhost -local:root

noetic/ros-opencog/Dockerfile +199 -0

…	…	@@ -0,0 +1,199 @@
	1	#
	2	# Container for ROS+OpenCog
	3	#
	4	# To build:
	5	# sudo docker build -t opencog/ros-noetic-opencog .
	6	#
	7	FROM opencog/ros-noetic-base
	8	MAINTAINER Mark Wigzell "markwigzell@gmail.com"
	9
	10	# Install required packages
	11	ENV LAST_OS_UPDATE 2022-03-05
	12	RUN apt-get -y update
	13	RUN apt-get -y upgrade
	14	# Base stuff for cogutil. All on one line, to avoid error
	15	# `Cannot create container with more than 127 parents`
	16	RUN apt-get -y install gcc g++ cmake binutils-dev libiberty-dev \
	17	libboost-dev libboost-date-time-dev libboost-filesystem-dev \
	18	libboost-program-options-dev libboost-regex-dev \
	19	libboost-serialization-dev libboost-system-dev libboost-thread-dev \
	20	cxxtest
	21
	22	# Additional stuff for the AtomSpace: cython and guile.
	23	# RocksDB is needed for the RocksStorageNode
	24	# We need rlwrap+telnet for the CogServer.
	25	# Octomap is for spacetime, needed by PLN.
	26	RUN apt-get -y install guile-3.0-dev cython librocksdb-dev telnet rlwrap \
	27	liboctomap-dev
	28
	29	# Need wget to download link-grammar source.
	30	RUN apt-get install -y wget flex libpcre2-dev locales
	31
	32	# -------------------------------------------------------------
	33	# Need assorted locales for Link Grammar
	34	RUN (echo "en_US.UTF-8 UTF-8" > /etc/locale.gen && \
	35	echo "ru_RU.UTF-8 UTF-8" >> /etc/locale.gen && \
	36	echo "th_TH.UTF-8 UTF-8" >> /etc/locale.gen && \
	37	echo "de_DE.UTF-8 UTF-8" >> /etc/locale.gen && \
	38	echo "fa_IR.UTF-8 UTF-8" >> /etc/locale.gen && \
	39	echo "ar_AE.UTF-8 UTF-8" >> /etc/locale.gen && \
	40	echo "he_IL.UTF-8 UTF-8" >> /etc/locale.gen && \
	41	echo "kk_KZ.UTF-8 UTF-8" >> /etc/locale.gen && \
	42	echo "lt_LT.UTF-8 UTF-8" >> /etc/locale.gen && \
	43	echo "tr_TR.UTF-8 UTF-8" >> /etc/locale.gen)
	44
	45	# WTF. In debian wheezy, it is enough to just say locale-gen without
	46	# any arguments. But in Ubuntu, we need to be explicit. I'm confused.
	47	# RUN locale-gen
	48	# Note also: under Ubuntu, fa_IR.UTF-8 causes locale-gen to fail,
	49	# must use the naked fa_IR
	50	# Note also: Kazakh is kk_KZ not kz_KZ
	51	RUN locale-gen en_US.UTF-8 ru_RU.UTF-8 he_IL.UTF-8 th_TH.UTF-8 \
	52	de_DE.UTF-8 lt_LT.UTF-8 fa_IR ar_AE.UTF-8 kk_KZ.UTF-8 tr_TR.UTF-8
	53
	54	# -------------------------------------------------------------
	55	# Right now, just clone the OpenCog sources. They will be built
	56	# later on.
	57	WORKDIR /opencog
	58	RUN git clone https://github.com/opencog/cogutil.git
	59	RUN git clone https://github.com/opencog/atomspace.git
	60	RUN git clone https://github.com/opencog/atomspace-rocks.git
	61	RUN git clone https://github.com/opencog/cogserver.git
	62	RUN git clone https://github.com/opencog/atomspace-cog.git
	63	RUN git clone https://github.com/opencog/lg-atomese.git
	64	RUN git clone https://github.com/opencog/unify.git
	65	RUN git clone https://github.com/opencog/ure.git
	66	RUN git clone https://github.com/opencog/spacetime.git
	67	RUN git clone https://github.com/opencog/pln.git
	68	RUN git clone https://github.com/opencog/relex.git
	69	RUN git clone https://github.com/opencog/opencog.git
	70
	71	# -------------------------------------------------------------
	72	# Download and build Link Grammar.
	73	WORKDIR /src
	74
	75	# Touch this tag to grab the latest version of LinkGrammar.
	76	ENV LAST_LG_UPDATE 2022-11-26_1
	77
	78	# Download the current released version of link-grammar.
	79	# We do NOT want to git-clone this; the git version is unstable;
	80	# it also requires extra tools and mish-mash to build it.
	81	# RUN http://www.abisource.com/downloads/link-grammar/current/link-grammar-5*.tar.gz
	82	# The wget tries to guess the correct file to download w/ wildcard
	83	# But that won't work.
	84	RUN wget -r --no-parent -nH --cut-dirs=2 http://www.abisource.com/downloads/link-grammar/current/
	85
	86	# Unpack the sources, too.
	87	RUN tar -zxf current/link-grammar-5*.tar.gz
	88
	89	# Build the libraries and command-line parser only
	90	# Assumes that the sources have already been unpacked.
	91	RUN (cd link-grammar-5*; mkdir build; cd build; \
	92	../configure; make -j12; make install; ldconfig)
	93
	94	RUN adduser --disabled-password --gecos "Link Parser User" link-parser
	95
	96	USER link-parser
	97	RUN (cd /home/link-parser; echo "export LANG=en_US.UTF-8" >> .bash_aliases)
	98	CMD bash
	99
	100	RUN export LANG=en_US.UTF-8
	101
	102	# -------------------------------------------------------------
	103	USER root
	104	WORKDIR /opencog
	105
	106	# Change line below on rebuild. Will use Docker cache up to this line,
	107	# twigging this date will update the opencog sources.
	108	ENV LAST_SOFTWARE_UPDATE 2023-01-11
	109
	110	# Git pull for all packages
	111	RUN cd /opencog/ && find . -maxdepth 1 -mindepth 1 -type d \
	112	-execdir git --git-dir=$PWD/{}/.git --work-tree=$PWD/{} pull \;
	113
	114	# Build the base software.
	115	RUN (mkdir /opencog/cogutil/build; cd /opencog/cogutil/build; \
	116	cmake ..; make -j6; make install)
	117	RUN (mkdir /opencog/atomspace/build; cd /opencog/atomspace/build; \
	118	cmake ..; make -j12; make install)
	119	RUN (mkdir /opencog/cogserver/build; cd /opencog/cogserver/build; \
	120	cmake ..; make -j12; make install)
	121	RUN (mkdir /opencog/atomspace-rocks/build; cd /opencog/atomspace-rocks/build; \
	122	cmake ..; make -j12; make install)
	123	RUN (mkdir /opencog/atomspace-cog/build; cd /opencog/atomspace-cog/build; \
	124	cmake ..; make -j12; make install)
	125	RUN (mkdir /opencog/lg-atomese/build; cd /opencog/lg-atomese/build; \
	126	cmake ..; make -j12; make install)
	127	RUN (mkdir /opencog/unify/build; cd /opencog/unify/build; \
	128	cmake ..; make -j12; make install)
	129	RUN (mkdir /opencog/ure/build; cd /opencog/ure/build; \
	130	cmake ..; make -j12; make install)
	131	RUN (mkdir /opencog/spacetime/build; cd /opencog/spacetime/build; \
	132	cmake ..; make -j12; make install)
	133	RUN (mkdir /opencog/pln/build; cd /opencog/pln/build; \
	134	cmake ..; make -j12; make install)
	135	RUN (mkdir /opencog/opencog/build; cd /opencog/opencog/build; \
	136	cmake ..; make -j12; make install)
	137
	138	# -------------------------------------------------------------
	139	# Additional stuff needed to build and run relex.
	140	# Need unzip to unzip JWNL.
	141	RUN apt-get -y install wordnet-dev wordnet-sense-index \
	142	ant libcommons-logging-java libgetopt-java unzip
	143
	144	# Download and install JWNL; its needed for relex.
	145	WORKDIR /src
	146	RUN wget http://downloads.sourceforge.net/project/jwordnet/jwnl/JWNL%201.4/jwnl14-rc2.zip
	147	RUN (unzip jwnl14-rc2.zip jwnl14-rc2/jwnl.jar ; \
	148	mkdir /usr/local/share/java ; \
	149	mv -v jwnl14-rc2/jwnl.jar /usr/local/share/java ; \
	150	rm -v jwnl14-rc2.zip ; rmdir jwnl14-rc2 ; \
	151	chmod -v 0644 /usr/local/share/java/jwnl.jar)
	152
	153	COPY /scripts/install-ubuntu-relex.sh /opencog/relex/install-scripts/
	154	RUN (cd /opencog/relex; install-scripts/install-ubuntu-relex.sh; ant build; ant install)
	155
	156	# -------------------------------------------------------------
	157	# Build the unit tests. This is .. optional, but we do it anyway,
	158	# for right now, just to sanity-check things.
	159	# WORKDIR /opencog/cogutil/build
	160	# RUN bash -l -c "make -j6 tests"
	161	#
	162	# WORKDIR /opencog/atomspace/build
	163	# RUN bash -l -c "make -j12 tests"
	164	#
	165	# WORKDIR /opencog/opencog/build
	166	# RUN bash -l -c "make -j12 tests"
	167	#
	168	COPY /scripts/.guile /root/
	169	COPY /scripts/unit-test.sh /root/
	170	COPY /scripts/tmux.sh /root/
	171
	172	# Pre-compile the guile modules. We could say `guild comple ...`, but
	173	# this is easier. This avoids fly compilation during container start.
	174	RUN (bash -l -c "echo \"(use-modules (opencog))\" | guile ; \
	175	echo \"(use-modules (opencog atom-types))\" | guile ; \
	176	echo \"(use-modules (opencog exec))\" | guile ; \
	177	echo \"(use-modules (opencog logger))\" | guile ; \
	178	echo \"(use-modules (opencog cogserver))\" | guile ; \
	179	echo \"(use-modules (opencog persist))\" | guile ; \
	180	echo \"(use-modules (opencog persist-cog))\" | guile ; \
	181	echo \"(use-modules (opencog persist-rocks))\" | guile ; \
	182	echo \"(use-modules (opencog query))\" | guile ; \
	183	echo \"(use-modules (opencog unify))\" | guile ; \
	184	echo \"(use-modules (opencog ure))\" | guile ; \
	185	echo \"(use-modules (opencog spacetime))\" | guile ; \
	186	echo \"(use-modules (opencog pln))\" | guile ; \
	187	echo \"(use-modules (opencog nlp))\" | guile ; \
	188	echo \"(use-modules (opencog nlp chatbot))\" | guile ; \
	189	echo \"(use-modules (opencog nlp chatbot-eva))\" | guile ; \
	190	echo \"(use-modules (opencog nlp fuzzy))\" | guile ; \
	191	echo \"(use-modules (opencog nlp lg-dict))\" | guile ; \
	192	echo \"(use-modules (opencog nlp microplanning))\" | guile ; \
	193	echo \"(use-modules (opencog nlp relex2logic))\" | guile ; \
	194	echo \"(use-modules (opencog nlp sureal))\" | guile ")
	195
	196	WORKDIR /root
	197	#ENTRYPOINT bash -l -c "./unit-test.sh; bash"
	198	ENTRYPOINT bash -l -c "./tmux.sh; bash"
	199	#CMD /bin/bash

noetic/ros-opencog/README.md +36 -0

…	…	@@ -0,0 +1,36 @@
	1	ros-opencog
	2	============
	3
	4	A docker image that installs both ROS and OpenCog. The image holds
	5	only the base packages needed for running OpenCog and ROS together;
	6	The CogServer is not started, no ROS nodes are started.
	7
	8	## Building
	9
	10	Run the `build.sh` file in this directory. You need to have built
	11	the base ROS image (in the `../ros-base` directory) first.
	12
	13	## Testing
	14	To verify that OpenCog works, run the `run.sh` shell script.
	15	This will create a tmux (byobu) session inside the docker container.
	16	There are several things you can try:
	17
	18	* Navigate to the build directories in `/opencog` and run the unit
	19	tests there.
	20
	21	* Start `guile` at the prompt, and then try `(use-modules (opencog))`
	22
	23	* Try starting the cogserver! At the guile prompt:
	24	```
	25	(use-modules (opencog) (opencog cogserver))
	26	(start-cogserver)
	27	(Concept "foobar" (stv 0.5 0.8))
	28	```
	29	Then from another tmux prompt:
	30	```
	31	telnet localhost 17001
	32	(use-modules (opencog))
	33	(cog-node 'ConceptNode "foobar")
	34	```
	35	The above should display `(ConceptNode "foobar" (stv 0.5 0.80000001))`.
	36	of course!

noetic/ros-opencog/build.sh +5 -0

…	…	@@ -0,0 +1,5 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for ros-opencog
	4	#
	5	docker build -t opencog/ros-noetic-opencog .

noetic/ros-opencog/run.sh +9 -0

…	…	@@ -0,0 +1,9 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	docker run --name="cog-ros" -it opencog/ros-noetic-opencog
	8
	9	clear

noetic/ros-opencog/scripts/.guile +14 -0

…	…	@@ -0,0 +1,14 @@
	1	;
	2	; .guile -- commands to execute on guile REPL startup.
	3	;
	4	;; rlb's method for activiting realine ...
	5	(use-modules (ice-9 readline))
	6	(activate-readline)
	7
	8	(debug-enable 'backtrace)
	9	;; (debug-enable 'debug)
	10
	11	; Record positions of source code expressions.
	12	(read-enable 'positions)
	13
	14	(add-to-load-path "/usr/local/share/opencog/scm")

noetic/ros-opencog/scripts/install-ubuntu-relex.sh +55 -0

…	…	@@ -0,0 +1,55 @@
	1	#!/bin/bash
	2	#
	3	# RelEx install script for Ubuntu/Debian systems
	4	# Tested on Ubuntu 12.04 LTS (Precise Pangolin)
	5	# Tested on Ubuntu 14.04 LTS (Trusty Tahr)
	6	#
	7	# Usage:
	8	# git clone https://github.com/opencog/relex
	9	# cd relex
	10	# install-scripts/install-ubuntu-dependencies.sh
	11	# (note: will ask for sudo password)
	12	# ant run
	13	#
	14	# Authors: David Hart, Cosmo Harrigan
	15
	16	## Ubuntu/Debian Packages
	17	sudo apt-get -y update
	18	sudo apt-get -y install build-essential python-dev swig zlib1g-dev unzip wget
	19	sudo apt-get -y install wordnet-dev wordnet-sense-index
	20	sudo apt-get -y install openjdk-9-jdk
	21	sudo apt-get -y install maven
	22
	23	# Link Grammar
	24	wget -r --no-parent --no-check-certificate -nH --cut-dirs=3 http://www.abisource.com/downloads/link-grammar/current/
	25	tar -xvf link-grammar-5.*.tar.gz
	26	rm link-grammar-5.*.tar.gz*
	27	rm -rf index.html* robots.txt
	28	pushd link-grammar-5.*
	29	JAVA_HOME=/usr/lib/jvm/java-9-openjdk-amd64 ./configure
	30	make -j6
	31	sudo make install
	32	sudo ln -v -s /usr/local/lib/liblink-grammar.so.5 /usr/lib/liblink-grammar.so.5
	33	popd
	34	sudo ldconfig
	35
	36	MVN_USER=`whoami`
	37	LINKGRAMMAR_JAR=`find ./link-grammar* -name linkgrammar*.jar`
	38	LINKGRAMMAR_VERSION=`echo $LINKGRAMMAR_JAR | grep -oP '(?<=-)\d+\.\d+\.\d+(?=\.)'`
	39
	40	if grep -q '^vagrant:' /etc/passwd; then
	41	cd /home/vagrant/relex
	42	MVN_USER=vagrant
	43	fi
	44
	45	sudo -u $MVN_USER mvn install:install-file \
	46	-DskipTests \
	47	-Dfile=$LINKGRAMMAR_JAR \
	48	-DgroupId=org.opencog \
	49	-DartifactId=linkgrammar \
	50	-Dversion=$LINKGRAMMAR_VERSION \
	51	-Dpackaging=jar
	52
	53	# RelEx
	54	sudo -u $MVN_USER mvn package -DskipTests
	55	sudo -u $MVN_USER mvn install -DskipTests

noetic/ros-opencog/scripts/tmux.sh +20 -0

…	…	@@ -0,0 +1,20 @@
	1	#! /bin/bash
	2	#
	3	# tmux.sh
	4	#
	5	# Run some tmux (byobu) terminals.
	6	#
	7	# Use byobu so that the scroll bars actually work
	8	byobu new-session -d -n 'bash' '$SHELL'
	9
	10	tmux new-window -n 'b2' '$SHELL'
	11	tmux new-window -n 'b3' '$SHELL'
	12	tmux new-window -n 'b4' '$SHELL'
	13
	14	# Spare-usage shell
	15	tmux new-window -n 'bash' '$SHELL'
	16
	17	# Fix the annoying byobu display
	18	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	19	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	20	tmux attach

noetic/ros-opencog/scripts/unit-test.sh +25 -0

…	…	@@ -0,0 +1,25 @@
	1	#! /bin/bash
	2	#
	3	# unit-test.sh
	4	#
	5	# Run the OpenCog unit tests on container startup.
	6	# Provide a spare teminal in the meanwhile.
	7	#
	8	echo "Will Run OpenCog unit tests..."
	9
	10	# Use byobu so that the scroll bars actually work
	11	byobu new-session -d -n 'bash' '$SHELL'
	12
	13	tmux new-window -n 'utils' 'cd /opencog/cogutil/build && make test; $SHELL'
	14	tmux new-window -n 'atoms' 'cd /opencog/atomspace/build && make test; $SHELL'
	15	tmux new-window -n 'servr' 'cd /opencog/opencog/build && make test; $SHELL'
	16
	17	# Spare-usage shell
	18	tmux new-window -n 'bash' '$SHELL'
	19
	20	# Fix the annoying byobu display
	21	echo "tmux_left=\"session\"" > $HOME/.byobu/status
	22	echo "tmux_right=\"load_average disk_io date time\"" >> $HOME/.byobu/status
	23	tmux attach
	24
	25	echo "Started"

noetic/ros-opencog/stop.sh +14 -0

…	…	@@ -0,0 +1,14 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep cog-ros |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container... '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep cog-ros`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing... '
	13	docker rm cog-ros
	14	fi

opencog/README.md +84 -0

…	…	@@ -0,0 +1,84 @@
	1	OpenCog Docker Containers
	2	-------------------------
	3	This directory contains docker configurations for some of OpenCog's
	4	projects. Some of the notable images include:
	5
	6	* `opencog/atomspace` -- Core AtomSpace only.
	7	* `opencog/atomspace-py` -- AtomSpace plus many Python tools.
	8	* `opencog/learn` -- Learning subsystem.
	9	* `opencog/lang-pairs` -- Tabulate and visualize word pairs from
	10	text corpora.
	11
	12	Older, obsolete images can be found in the [archive](../archive)
	13	directory. If someone sent you here, and you can't find what you were
	14	told about, then it is probably in the archive.
	15
	16	## Docker setup
	17	1. Install docker. On Debian/Ubuntu, `apt install docker.io`. Be sure to
	18	ad your userid to the `/etc/group` file, like so:
	19	`sudo usermod -aG docker $USER`. Log out and log back in, so that
	20	this new membership can become active.
	21
	22	2. Alternately, follow the
	23	[docker.com instructions](https://docs.docker.com/engine/installation/)
	24	for setting up docker. They will want you to create an account. But
	25	this is not needed. If you do create an account, be sure to say
	26	`sudo docker login` or
	27
	28	3. (Caution: dockerhub images appear to be out-of-date, and its not
	29	clear how to fix this. So please do NOT do this step.)
	30	Pull opencog images from dockerhub by running `./docker-build.sh -a`
	31
	32	4. The above pull should have downloaded the latest images. These
	33	are rebuilt weekly, and thus should be up-to-date, more or less.
	34	If not, and the absolute very latest is needed, then the docker
	35	images can be rebuilt. Use `./docker-build.sh -h` to get a list
	36	of available options.
	37
	38	## Overview
	39	List the current set of docker images with the command `docker images`.
	40	The most notable include:
	41
	42	* `opencog/opencog-deps` -- A base operating system image, with
	43	most required dependencies installed.
	44
	45	* `opencog/atomspace` -- An image containing the core AtomSpace.
	46	The AtomSpace is needed by all other subsystems.
	47
	48	* `opencog/atomspace-py` -- The AtomSpace, plus a large collection of
	49	Python tools commonly used for machine learning and DL/NN work.
	50
	51	* `opencog/learn` -- An image containing the language-learning
	52	subproject.
	53
	54	The above three images "don't actually do anything"; they just provide
	55	baseline software installs.
	56
	57	Actual demos, which "do actual stuff", are listed below. These need to
	58	be built individually; they cannot be downloaded pre-made. Go to the
	59	relevant directory, and follow the instructions there.
	60
	61	* `opencog/lang-pairs` -- Word-pair counting and visualization. Demo
	62	of the very first step of the language-learning project.
	63
	64	## Docker Cheat Sheet
	65	* `docker images`
	66	* `docker rmi <image-hex>`
	67	* `docker ps -a`
	68	* `docker create --name foo -it opencog/atomspace`
	69	* `docker start -i <container-name>`
	70	* `docker stop <container-name>`
	71	* `docker rm <container-name>`
	72	* `docker container cp <some-file> <container>:<path>
	73	* `docker attach <container-name>`
	74
	75	## Notes
	76	1. Both `tmux` and `byobu` are installed, so you can use either for
	77	multiple windows/panes.
	78
	79	## TODO
	80	1. Add more images to github workflow for automated publishing
	81
	82	## Bonus
	83	There are some "bonus" containers, which might be useful:
	84	* `claude-code` -- Container with Anthropic's Claude Code installed.

opencog/atomspace-py/Dockerfile +52 -0

…	…	@@ -0,0 +1,52 @@
	1	#
	2	# Container with AtomSpace plus extra python and node.js stuff.
	3	#
	4	# Usage:
	5	# 1. docker build -t opencog/atomspace-py .
	6	# 2. docker create --name atompy -it opencog/atomspace-py
	7	# 3. docker start -i atompy
	8	#
	9	#
	10	ARG OS_VERSION=latest
	11	ARG BASE_IMAGE=opencog/atomspace:${OS_VERSION}
	12	FROM ${BASE_IMAGE}
	13
	14	# Install Debian-managed packages to get base python abilities.
	15	RUN apt-get -y update && apt-get -y upgrade && apt-get -y autoremove
	16	RUN apt-get -y install python3-pip python3-venv
	17
	18	# Install Debian-managed packages to get base node.js abilities.
	19	RUN apt-get -y install npm
	20
	21	# Everything else happens as the user.
	22	USER opencog
	23	WORKDIR /home/opencog
	24
	25	# Set up NPM repos so that they install as the user.
	26	RUN mkdir -p ~/.npm-global
	27	RUN npm config set prefix ~/.npm-global
	28	RUN echo 'export PATH=~/.npm-global/bin:$PATH' >> ~/.bashrc
	29	ENV PATH=~/.npm-global/bin:$PATH
	30
	31	# Create python gaol located at a popular location
	32	# Activate manually wih `source ~/.venv/bin/activate`
	33	RUN python3 -m venv .venv
	34
	35	# Use uv as a replacement for pipx, poetry, pyenv, virtualenv, twine.
	36	RUN .venv/bin/pip install uv
	37
	38	# Other misc stuff
	39	RUN .venv/bin/pip install requests websockets
	40
	41	# Model Context Protocol MCP python sdk
	42	# This SDK is not available on older OS'es, so just || true so that
	43	# the Docker build does not fail. Of course, its a silent failure, but
	44	# who cares. No one will be using it.
	45	RUN .venv/bin/pip install mcp || true
	46
	47	# Opencog installed itself here; we want it available in the venv.
	48	ENV PYTHONPATH=/usr/local/lib/python3.12/dist-packages:$PYTHONPATH
	49
	50	CMD /bin/bash
	51
	52	ONBUILD USER root

opencog/atomspace/Dockerfile +76 -0

…	…	@@ -0,0 +1,76 @@
	1	#
	2	# Container with just the core AtomSpace framework installed.
	3	# This includes the cogserver, atomspce-rocks and atomspace-cog.
	4	# It does NOT include nlp, unify, ure, pln or opencog.
	5	#
	6	# Steps:
	7	# 1. docker build --no-cache -t opencog/atomspace .
	8	# 2. docker create --name atomspace -p 17001:17001 -p 18080:18080
	9	# -v /ABSOLUTE/PATH/TO/YOUR/WORKING/DIRECTORY/On/Your/PC/:/opencog
	10	# -w /opencog
	11	# -it opencog/atomspace
	12	# 3. docker start -i atomspace
	13	#
	14
	15	ARG OS_VERSION=latest
	16	ARG BASE_IMAGE=opencog/opencog-deps:${OS_VERSION}
	17	FROM ${BASE_IMAGE}
	18
	19	# The apt installs below will fail, unless we are at the latest.
	20	# Bump the date, if there are DNS failures!
	21	ENV LAST_APT_UPDATE=2025-08-08
	22	RUN apt-get -y update; apt-get -y upgrade; apt-get -y autoremove
	23
	24	# Basic tools that allow this image to be minimally usable.
	25	# * Networking tools (ping, ifconfig, telnet, netcat)
	26	# * Terminal sharing tools (tmux, byobu)
	27	# * Debug tools (gdb, xxd, jq)
	28	# * Webserver (apache2, php)
	29	#
	30	# Oddly, the xxd package is sometimes missing; use --ignore-missing.
	31	# The || true is needed to prevent docker from dying when xxd is not
	32	# found.
	33	RUN apt-get -y --ignore-missing install \
	34	lsof \
	35	net-tools iputils-ping netcat-openbsd traceroute iptraf \
	36	rlwrap telnet \
	37	tmux byobu \
	38	gdb time xxd jq \
	39	apache2 php \
	40	|| true
	41
	42	# Install cogutil
	43	ENV LAST_COGUTIL_UPDATE=2025-12-10
	44	RUN /tmp/octool -c && ccache -C
	45
	46	# Install core AtomSpace.
	47	ENV LAST_ATOMSPACE_UPDATE=2025-11-20
	48	RUN /tmp/octool -a && ccache -C
	49
	50	USER opencog
	51	WORKDIR /home/opencog
	52
	53	# Setup the workspace for developers
	54	COPY /scripts/ /home/opencog
	55	RUN sudo chown -R opencog:opencog .
	56	RUN sudo chown -R opencog:opencog .[a-z]*
	57
	58	# XXX FIXME - despite efforts, the timestamp on
	59	# /usr/local/lib/guile/3.0/site-ccache/opencog.go
	60	# is older than that on
	61	# /usr/local/share/guile/site/3.0/opencog.scm
	62	# So hack around this by forcing a compile.
	63	RUN guile -c "(use-modules (opencog) (opencog exec) (opencog cogserver) (opencog persist) (opencog persist-cog) (opencog persist-rocks))"
	64
	65	# RUN guile -c "(use-modules (opencog persist-pgres))"
	66
	67	# Docker EXPOSE says "we listen on these ports". Which is not quite
	68	# true, because the default cogserver publishes on these ports. But
	69	# it is considered to be "best practices" to announce this to the world.
	70	EXPOSE 17001
	71	EXPOSE 18080
	72	EXPOSE 18888
	73
	74	CMD /bin/bash
	75
	76	ONBUILD USER root

opencog/atomspace/README.md +42 -0

…	…	@@ -0,0 +1,42 @@
	1	Base AtomSpace container
	2	------------------------
	3
	4	The container here includes a copy of the core AtomSpace framework,
	5	including the AtomSpace, the CogServer, the RocksStorageNode and the
	6	CogStorageNode. It does *not* include nlp, unify, ure or pln.
	7
	8	## Building
	9
	10	The container is built by the script in the directory below:
	11	`../docker-build.sh -s`.
	12
	13	## Testing
	14	Optional. To verify that the core AtomSpace is working:
	15
	16	* Run the container with `./run.sh`. This will put you into a prompt
	17	in the container.
	18
	19	* Start `guile` at the bash prompt, and say
	20	```
	21	(use-modules (opencog))
	22	(Concept "foobar" (stv 0.5 0.8))
	23	```
	24
	25	* The CogServer can be started also. To verify this, start either
	26	byobu or tmux, and open a few terminal shells (F2 on byobu, or
	27	`ctrl-b c` on tmux.) Then, in one of the panels, start guile
	28	and say
	29	```
	30	(use-modules (opencog) (opencog cogserver))
	31	(start-cogserver)
	32	(Concept "foobar" (stv 0.5 0.8))
	33	```
	34	Then toggle to another byobu/tmux panel (F3/F4 to move left/right
	35	in byobu, or `ctrl-b p`/`ctrl-b n` to move left/right in tmux)
	36	```
	37	rlwrap telnet localhost 17001
	38	scm
	39	(cog-node 'ConceptNode "foobar")
	40	```
	41	The above should display `(ConceptNode "foobar" (stv 0.5 0.8))`.
	42	Of course!

opencog/atomspace/run.sh +9 -0

…	…	@@ -0,0 +1,9 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container.
	4	#
	5	# ./stop.sh
	6
	7	docker run --name="base-atomspace" -it opencog/atomspace
	8
	9	# clear

opencog/atomspace/scripts/.byobu/.screenrc +0 -0

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opencog/atomspace/scripts/.byobu/.tmux.conf +0 -0

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opencog/atomspace/scripts/.byobu/.welcome-displayed +0 -0

(no content changes — binary or rename)

opencog/atomspace/scripts/.byobu/backend +1 -0

…	…	@@ -0,0 +1 @@
	1	BYOBU_BACKEND=tmux

opencog/atomspace/scripts/.byobu/color +3 -0

…	…	@@ -0,0 +1,3 @@
	1	BACKGROUND=k
	2	FOREGROUND=w
	3	MONOCHROME=0

opencog/atomspace/scripts/.byobu/color.tmux +4 -0

…	…	@@ -0,0 +1,4 @@
	1	BYOBU_DARK="\#333333"
	2	BYOBU_LIGHT="\#EEEEEE"
	3	BYOBU_ACCENT="\#75507B"
	4	BYOBU_HIGHLIGHT="\#DD4814"

opencog/atomspace/scripts/.byobu/datetime.tmux +2 -0

…	…	@@ -0,0 +1,2 @@
	1	# BYOBU_DATE="%Y-%m-%d "
	2	# BYOBU_TIME="%H:%M:%S"

opencog/atomspace/scripts/.byobu/keybindings +1 -0

…	…	@@ -0,0 +1 @@
	1	source $BYOBU_PREFIX/share/byobu/keybindings/common

opencog/atomspace/scripts/.byobu/keybindings.tmux +4 -0

…	…	@@ -0,0 +1,4 @@
	1	unbind-key -n C-a
	2	set -g prefix ^A
	3	set -g prefix2 ^A
	4	bind a send-prefix

opencog/atomspace/scripts/.byobu/profile +1 -0

…	…	@@ -0,0 +1 @@
	1	source $BYOBU_PREFIX/share/byobu/profiles/common

opencog/atomspace/scripts/.byobu/profile.tmux +1 -0

…	…	@@ -0,0 +1 @@
	1	source $BYOBU_PREFIX/share/byobu/profiles/tmux

opencog/atomspace/scripts/.byobu/prompt +1 -0

…	…	@@ -0,0 +1 @@
	1	[ -r /usr/share/byobu/profiles/bashrc ] && . /usr/share/byobu/profiles/bashrc #byobu-prompt#

opencog/atomspace/scripts/.byobu/status +41 -0

…	…	@@ -0,0 +1,41 @@
	1	# status - Byobu's default status enabled/disabled settings
	2	#
	3	# Override these in $BYOBU_CONFIG_DIR/status
	4	# where BYOBU_CONFIG_DIR is XDG_CONFIG_HOME if defined,
	5	# and $HOME/.byobu otherwise.
	6	#
	7	# Copyright (C) 2009-2011 Canonical Ltd.
	8	#
	9	# Authors: Dustin Kirkland <kirkland@byobu.org>
	10	#
	11	# This program is free software: you can redistribute it and/or modify
	12	# it under the terms of the GNU General Public License as published by
	13	# the Free Software Foundation, version 3 of the License.
	14	#
	15	# This program is distributed in the hope that it will be useful,
	16	# but WITHOUT ANY WARRANTY; without even the implied warranty of
	17	# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	18	# GNU General Public License for more details.
	19	#
	20	# You should have received a copy of the GNU General Public License
	21	# along with this program. If not, see <http://www.gnu.org/licenses/>.
	22
	23	# Status beginning with '#' are disabled.
	24
	25	# Screen has two status lines, with 4 quadrants for status
	26	screen_upper_left="color"
	27	screen_upper_right="color whoami hostname ip_address menu"
	28	screen_lower_left="color logo distro release #arch session"
	29	screen_lower_right="color network #disk_io custom #entropy raid reboot_required updates_available #apport #services #mail users uptime #fan_speed #cpu_temp battery wifi_quality #processes load_average cpu_count cpu_freq memory #swap disk #time_utc date time"
	30
	31	tmux_right="load_average disk_io date time"
	32	tmux_left="session"
	33
	34
	35	# Tmux has one status line, with 2 halves for status
	36	# tmux_left="logo #distro release #arch session"
	37	# You can have as many tmux right lines below here, and cycle through them using Shift-F5
	38	# tmux_right="#network #disk_io #custom #entropy raid reboot_required updates_available #apport #services #mail #users uptime #fan_speed #cpu_temp #battery #wifi_quality #processes load_average cpu_count cpu_freq memory #swap disk #whoami #hostname #ip_address #time_utc date time"
	39	#tmux_right="network #disk_io #custom entropy raid reboot_required updates_available #apport #services #mail users uptime fan_speed cpu_temp battery wifi_quality #processes load_average cpu_count cpu_freq memory #swap #disk whoami hostname ip_address #time_utc date time"
	40	#tmux_right="network #disk_io custom #entropy raid reboot_required updates_available #apport #services #mail users uptime #fan_speed #cpu_temp battery wifi_quality #processes load_average cpu_count cpu_freq memory #swap #disk #whoami #hostname ip_address #time_utc date time"
	41	#tmux_right="#network disk_io #custom entropy #raid #reboot_required #updates_available #apport #services #mail #users #uptime fan_speed cpu_temp #battery #wifi_quality #processes #load_average #cpu_count #cpu_freq #memory #swap whoami hostname ip_address #time_utc disk date time"

opencog/atomspace/scripts/.byobu/statusrc +78 -0

…	…	@@ -0,0 +1,78 @@
	1	# statusrc - Byobu's default status configurations
	2	#
	3	# Override these in $BYOBU_CONFIG_DIR/statusrc
	4	# where BYOBU_CONFIG_DIR is XDG_CONFIG_HOME if defined,
	5	# and $HOME/.byobu otherwise.
	6	#
	7	# Copyright (C) 2009-2011 Canonical Ltd.
	8	#
	9	# Authors: Dustin Kirkland <kirkland@byobu.org>
	10	#
	11	# This program is free software: you can redistribute it and/or modify
	12	# it under the terms of the GNU General Public License as published by
	13	# the Free Software Foundation, version 3 of the License.
	14	#
	15	# This program is distributed in the hope that it will be useful,
	16	# but WITHOUT ANY WARRANTY; without even the implied warranty of
	17	# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	18	# GNU General Public License for more details.
	19	#
	20	# You should have received a copy of the GNU General Public License
	21	# along with this program. If not, see <http://www.gnu.org/licenses/>.
	22
	23	# Configurations that you can override; if you leave these commented out,
	24	# Byobu will try to auto-detect them.
	25
	26	# This should be auto-detected for most distro, but setting it here will save
	27	# some call to lsb_release and the like.
	28	#BYOBU_DISTRO=Ubuntu
	29
	30	# Default: depends on the distro (which is either auto-detected, either set
	31	# via $DISTRO)
	32	#LOGO="\o/"
	33
	34	# Abbreviate the release to N characters
	35	# By default, this is disabled. But if you set RELEASE_ABBREVIATED=1
	36	# and your lsb_release is "precise", only "p" will be displayed
	37	#RELEASE_ABBREVIATED=1
	38
	39	# Default: /
	40	#MONITORED_DISK=/
	41
	42	# Minimum disk throughput that triggers the notification (in kB/s)
	43	# Default: 50
	44	#DISK_IO_THRESHOLD=50
	45
	46	# Default: eth0
	47	#MONITORED_NETWORK=eth0
	48
	49	# Unit used for network throughput (either bits per second or bytes per second)
	50	# Default: bits
	51	#NETWORK_UNITS=bytes
	52
	53	# Minimum network throughput that triggers the notification (in kbit/s)
	54	# Default: 20
	55	#NETWORK_THRESHOLD=20
	56
	57	# You can add an additional source of temperature here
	58	#MONITORED_TEMP=/proc/acpi/thermal_zone/THM0/temperature
	59
	60	# Default: C
	61	#TEMP=F
	62
	63	#SERVICES="eucalyptus-nc|NC eucalyptus-cloud|CLC eucalyptus-walrus eucalyptus-cc|CC eucalyptus-sc|SC"
	64
	65	#FAN=$(find /sys -type f -name fan1_input | head -n1)
	66
	67	# You can set this to 1 to report your external/public ip address
	68	# Default: 0
	69	#IP_EXTERNAL=0
	70
	71	# The users notification normally counts ssh sessions; set this configuration to '1'
	72	# to instead count number of distinct users logged onto the system
	73	# Default: 0
	74	#USERS_DISTINCT=0
	75
	76	# Set this to zero to hide seconds int the time display
	77	# Default 1
	78	#TIME_SECONDS=0

opencog/atomspace/scripts/.byobu/windows +0 -0

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opencog/atomspace/scripts/.byobu/windows.tmux +0 -0

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opencog/atomspace/scripts/.vimrc +21 -0

…	…	@@ -0,0 +1,21 @@
	1	" Either 'wrapmargin' is in effect or 'textwidth' but not both.
	2	" Lets try living with 'textwidth' and see what that's like. March 2021
	3	" hmm
	4	set wrapmargin=8
	5	" set textwidth=80
	6	set ts=3
	7	set showmode
	8	set noautoindent
	9	set encoding=utf-8
	10
	11	" Only do this part when compiled with support for autocommands.
	12	if has("autocmd")
	13	" When editing a file, always jump to the last known cursor position.
	14	" Don't do it when the position is invalid or when inside an event handler
	15	" (happens when dropping a file on gvim).
	16	autocmd BufReadPost *
	17	\ if line("'\"") > 0 && line("'\"") <= line("$") |
	18	\ exe "normal g`\"" |
	19	\ endif
	20
	21	endif " has("autocmd")

opencog/atomspace/scripts/cogserver.scm +75 -0

…	…	@@ -0,0 +1,75 @@
	1	#! /usr/bin/env -S guile -l ./cogserver.scm --
	2	!#
	3	;
	4	; cogserver.scm
	5	;
	6	; Load assorted modules and start the cogserver. Start this by saying
	7	; `./cogserver.scm` at the shell prompt. It will start the cogserver,
	8	; and place you at a guile scheme prompt. The cogserver will stop when
	9	; you exit.
	10	;
	11	; This file is here as an example! Edit this as you wish, and add
	12	; whatever modules or configuration that you want.
	13	;
	14	; Configurable parameters are pulled from the shell environment.
	15	;
	16	(use-modules (system repl common))
	17	(use-modules (opencog) (opencog logger))
	18	(use-modules (opencog persist))
	19	(use-modules (opencog cogserver))
	20	(use-modules (srfi srfi-1))
	21
	22	; Try fishing a prompt string from the shell environment.
	23	(define env-prompt (getenv "PROMPT"))
	24	(when (not env-prompt)
	25	(set! env-prompt "scheme@atomspace"))
	26
	27	; Prompt magic, copied from `module/system/repl/common.scm`
	28	; This makes the scheme shell prompt work correctly, even when
	29	; exceptions are caught.
	30	(define (cog-prompt)
	31	(let ((level (length (cond
	32	((fluid-ref *repl-stack*) => cdr)
	33	(else '())))))
	34	(if (zero? level)
	35	(string-append env-prompt "> ")
	36	(format #f "~A [~A]> " env-prompt level))))
	37
	38	(repl-default-prompt-set! cog-prompt)
	39
	40	; Some additional environment-variable stuffs.
	41	(define env-port (getenv "PORT"))
	42	(if (not env-port)
	43	(set! env-port 17001)
	44	(set! env-port(string->number env-port)))
	45
	46	(define env-web-port (getenv "WEB_PORT"))
	47	(if (not env-web-port)
	48	(set! env-web-port 18080)
	49	(set! env-web-port(string->number env-web-port)))
	50
	51	(define env-srv-prompt (getenv "OCPROMPT"))
	52	(when (not env-srv-prompt)
	53	(set! env-srv-prompt "cogserver> "))
	54
	55	(define env-logfile (getenv "LOGFILE"))
	56	(when (not env-logfile)
	57	(set! env-logfile "/tmp/cogserver.log"))
	58
	59	; Start the cogserver using the configured parameters.
	60	; Start the cogserver *after* opening the DB and setting frames.
	61	; That way, any remote procs waiting on the socket don't start
	62	; sending data until *after* the DB is opened.
	63	(start-cogserver
	64	#:port env-port
	65	#:scmprompt (string-append env-prompt "> ")
	66	#:prompt env-srv-prompt
	67	#:logfile env-logfile
	68	#:web env-web-port
	69	;;; #:web 0 ;; Uncommenting this will disable the websocket port.
	70	; Random websites will try to talk to the websockets port, so it
	71	; should be disabled, if you're not using it. I don't know why it
	72	; is being targeted.
	73	)
	74
	75	; -----------------------------------------------------------

opencog/base/Dockerfile +83 -0

…	…	@@ -0,0 +1,83 @@
	1	#
	2	# Images with all the dependencies for development installed.
	3	#
	4	# Steps to build & run:
	5	# 1. docker build --no-cache -t opencog/opencog-deps .
	6	# 2. docker run --rm -it opencog/opencog-deps
	7
	8	# Default to Ubuntu 24.04 LTS (Noble Numbat)
	9	ARG BASE_OS=ubuntu:24.04
	10	FROM ${BASE_OS}
	11
	12	ENV DEBIAN_FRONTEND=noninteractive
	13
	14	# Bump this date, in order to force the apt-update to run again.
	15	# Otherwise, it will use the cached Docker container, which might
	16	# be stale or be missing security updates.
	17	ENV LAST_OS_UPDATE=2025-12-16
	18	RUN apt-get update && apt-get -y upgrade
	19
	20	# Install apt utilities
	21	RUN apt-get -y install apt-transport-https sudo wget tzdata apt-utils
	22
	23	# Debian does not have software-properties-common; this is an ubuntu pkg
	24	RUN apt-get -y --ignore-missing install software-properties-common || true
	25
	26	# This container is used by circle-ci unit tests, and they seem to
	27	# be happier when ssh is installed. Seems this is NOT installed by
	28	# ocpkg, so we do it here.
	29	RUN apt-get -y install openssh-client
	30
	31	# Install ocpkg. Bump the date to get the latest ocpkg installed;
	32	# Otherwise, this docker build will be cached with an old octool.
	33	# And with the old versions of those packages that octool installs.
	34	ENV LAST_OCPKG_UPDATE=2025-12-16
	35
	36	# The OCPKG_URL can be overridden by specifying
	37	# docker build --build-arg OCPKG_URL=https://some.where.else.com/ockpg
	38	ARG GITHUB_NAME="opencog"
	39	ENV GITHUB_NAME=${GITHUB_NAME}
	40	ARG OCPKG_URL=https://raw.githubusercontent.com/${GITHUB_NAME}/ocpkg/master/ocpkg
	41	RUN echo OCPKG_URL=$OCPKG_URL
	42	ADD $OCPKG_URL /tmp/octool
	43	RUN chmod 755 /tmp/octool; sync;
	44
	45	# octool -r Add software repositories
	46	# -d Install base/system build dependencies
	47	# -v Verbose output for 'apt-get' commands
	48	RUN /tmp/octool -rdv
	49
	50	# Environment Variables
	51	ENV PATH=/usr/lib/ccache:$PATH
	52
	53	## Set Locale -- Link Grammar expects this.
	54	RUN locale-gen en_US.UTF-8
	55	ENV LANG=en_US.UTF-8
	56	ENV LANGUAGE=en_US:en
	57	ENV LC_ALL=en_US.UTF-8
	58
	59	# octool -l -- Install Link Grammar release tarball
	60	# This is required for circleci-testing of the atomspace.
	61	# The build of lg-atomese breaks without this.
	62	ENV LAST_LG_UPDATE=2025-10-28
	63	RUN /tmp/octool -v -l default
	64
	65	# TODO: Remove this user and replace with usage of `-u` flag during runtime.
	66	# Create and switch user. The user is privileged with no password required
	67	RUN adduser --disabled-password --gecos "OpenCog Developer" opencog
	68	RUN adduser opencog sudo
	69	RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
	70
	71	# video provides access to any GPU's on this device.
	72	RUN usermod -a -G video opencog
	73	USER opencog
	74	WORKDIR /home/opencog
	75
	76	# Setup config files
	77	## Don't mount host volumes to opencog's home directory inside the
	78	## container, if you do you will not find the contents copied below
	79	COPY /scripts/ /home/opencog
	80	RUN sudo chown -R opencog:opencog .guile .gdbinit
	81
	82	# For images built on this
	83	ONBUILD USER root

opencog/base/scripts/.gdbinit +99 -0

…	…	@@ -0,0 +1,99 @@
	1	# For more see http://wiki.opencog.org/w/Development_standards#GDB
	2
	3	# ----------------------------------------------------------------------------
	4	# Guile garbage collection uses these, ignore them.
	5	# ----------------------------------------------------------------------------
	6	handle SIGPWR noprint nostop
	7	handle SIGXCPU noprint nostop
	8	set print thread-events off
	9
	10	# ----------------------------------------------------------------------------
	11	# Print OpenCog Objects
	12	# ----------------------------------------------------------------------------
	13	set overload-resolution on
	14
	15	define poc
	16	if $argc == 0
	17	help patom
	18	else
	19	whatis $arg0
	20	printf "%s", opencog::oc_to_string($arg0)._M_dataplus._M_p
	21	end
	22	end
	23
	24	document poc
	25	Prints opencog object information.
	26	Syntax: poc <opencog object>
	27	Example:
	28	poc h - Prints the hypergraph corresponding to h
	29	end
	30
	31	# ----------------------------------------------------------------------------
	32	# Print opencog::AtomSpace
	33	# ----------------------------------------------------------------------------
	34	define patomspace
	35	if $argc == 0
	36	help patomspace
	37	else
	38	printf "%s", $arg0.to_string()._M_dataplus._M_p
	39	end
	40	end
	41
	42	document patomspace
	43	Prints opencog::AtomSpace information.
	44	Syntax: patomspace <atomspace>
	45	Example:
	46	patomspace as - Prints the whole atomspace as
	47	end
	48
	49	# ----------------------------------------------------------------------------
	50	# For debugging python
	51	# See https://wiki.python.org/moin/DebuggingWithGdb
	52	# As of December 2021, this still runs on python2.7 and not python3
	53	# ----------------------------------------------------------------------------
	54	add-auto-load-safe-path /usr/lib/debug/usr/bin/python2.7-gdb.py
	55
	56	# print python frame
	57	define pyf
	58	if $rip >= &PyEval_EvalFrameEx
	59	if $rip < &PyEval_EvalCodeEx
	60	x/s ((PyStringObject*)f->f_code->co_filename)->ob_sval
	61	x/s ((PyStringObject*)f->f_code->co_name)->ob_sval
	62	echo py line #
	63	p f->f_lineno
	64	end
	65	end
	66	end
	67	document pyf
	68	show python stack frame
	69	end
	70
	71	# print python backtrace
	72	define pbt
	73	set $i = 0
	74	set $j = 0
	75	set $prev = 0
	76	while $i < 105
	77	select $i
	78	if $rip >= &PyEval_EvalFrameEx
	79	if $rip < &PyEval_EvalCodeEx
	80	if $prev !=f
	81	echo c frame #
	82	p $i
	83	echo py frame #
	84	p $j
	85	set $j = $j+1
	86	x/s ((PyStringObject*)f->f_code->co_filename)->ob_sval
	87	x/s ((PyStringObject*)f->f_code->co_name)->ob_sval
	88	echo line #
	89	p f->f_lineno
	90	$prev = f
	91	end
	92	end
	93	end
	94	set $i = $i+1
	95	end
	96	end
	97	document pbt
	98	show python backtrace
	99	end

opencog/base/scripts/.guile +9 -0

…	…	@@ -0,0 +1,9 @@
	1	; To make working with arrow keys easier
	2	(use-modules (ice-9 readline))
	3	(activate-readline)
	4
	5	; Enable showing of backtrace on error
	6	(debug-enable 'backtrace)
	7
	8	; Record positions of source code expressions.
	9	(read-enable 'positions)

opencog/claude-code/Dockerfile +23 -0

…	…	@@ -0,0 +1,23 @@
	1	#
	2	# Container with AtomSpace plus Anthropic Claude Code
	3	#
	4	# Usage:
	5	# 1. docker build -t opencog/claude-code .
	6	# 2. docker create --name aclaw -it opencog/claude-code
	7	# 3. docker start -i aclaw
	8	#
	9	FROM opencog/atomspace-py:latest
	10
	11	# Everything else happens as the user.
	12	USER opencog
	13	WORKDIR /home/opencog
	14
	15	# Install Anthropic Claude Code
	16	RUN npm install -g @anthropic-ai/claude-code
	17
	18	# The OAuth token needs to be refreshed from time to time.
	19	RUN curl -O https://raw.githubusercontent.com/RavenStorm-bit/claude-token-refresh/main/claude_token_refresh.py && chmod +x claude_token_refresh.py
	20
	21	CMD /bin/bash
	22
	23	ONBUILD USER root

opencog/docker-build.sh +211 -0

…	…	@@ -0,0 +1,211 @@
	1	#!/bin/bash
	2	#
	3	# Notes:
	4	# 1. Builds all the images for development. You can also pull the
	5	# images from docker registry, but they are a bit bulky.
	6	# 2. If your user is not a member of the docker group you can add it
	7	# by running `sudo adduser $USER docker`. Log out and log back in
	8	# to get this change. After this is done, you will be able to run
	9	# this script without root privilege.
	10	# 3. If run without `-u` option, images will not be rebuilt, unless
	11	# the base ubuntu image is updated.
	12
	13	# Exit on error
	14	set -e
	15
	16	# Environment Variables
	17	## Use cache by default unless the -u options is passed
	18	CACHE_OPTION=""
	19
	20	## This file/symlinks name
	21	SELF_NAME=$(basename $0)
	22	DIR_NAME=$(dirname $0)
	23
	24	# -----------------------------------------------------------------------------
	25	# Main Execution
	26	if [ $# -eq 0 ]; then NO_ARGS=true; fi
	27
	28	while getopts "abcehjlmprstu" flag; do
	29	case $flag in
	30	a) PULL_DEV_IMAGES=true ;;
	31	b) BUILD_OPENCOG_BASE_IMAGE=true ;;
	32	l) BUILD_LEARN_IMAGE=true ;;
	33	p) BUILD_ATOMSPACE_PYTHON_IMAGE=true ;;
	34	s) BUILD_ATOMSPACE_IMAGE=true ;;
	35	u) CACHE_OPTION=--no-cache ;;
	36	h) SHOW_USAGE=true ;;
	37	\?)
	38	SHOW_USAGE=true
	39	# exit 1
	40	;;
	41	*) UNKNOWN_FLAGS=true ;;
	42	esac
	43	done
	44
	45	shift "$(($OPTIND - 1))"
	46
	47	BASE_OS=$1
	48	if [[ -z $BASE_OS ]]; then
	49	# Default to Ubuntu 24.04 LTS (Noble Numbat)
	50	# BASE_OS=ubuntu:20.04 # Focal Fossa
	51	# BASE_OS=ubuntu:22.04 # Jammy Jellyfish
	52	BASE_OS=ubuntu:24.04 # Noble Numbat
	53	# BASE_OS=ubuntu:25.10 # Questing Quokka
	54	# BASE_OS=debian:bookworm # June 2023
	55	# BASE_OS=debian:trixie # August 2025
	56	fi
	57	BASE_OS=${BASE_OS//-/:} # Convert dashes to colons
	58	OS_VERSION=${BASE_OS//:/-} # Convert colons to dashes
	59
	60	if [[ -z $1 ]]; then # If net specified, its "latest"
	61	OS_VERSION=latest # For dockerhub.io downloads
	62	fi
	63
	64	DOCKER_NAME=$2
	65	if [[ -z $DOCKER_NAME ]]; then
	66	DOCKER_NAME="opencog"
	67	fi
	68	GITHUB_NAME=$3
	69	if [[ -z $GITHUB_NAME ]]; then
	70	GITHUB_NAME="opencog"
	71	fi
	72
	73	# Functions
	74	usage() {
	75	printf "Usage: ./%s [OPTIONS] [BASE_OS] [DOCKER_NAME] [GITHUB_NAME]
	76
	77	OPTIONS:
	78	-a Pull the 'latest' images from hub.docker.com/u/${DOCKER_NAME}/
	79	These are currently based on ${BASE_OS}
	80	-b Build the ${DOCKER_NAME}/opencog-deps image. Provides all
	81	dependencies and development tools used by ${DOCKER_NAME}.
	82	-s Build the ${DOCKER_NAME}/atomspace image. Builds all core
	83	AtomSpace packages.
	84	-p Build the ${DOCKER_NAME}/atomspace-py image. Installs
	85	additional node.js and Python packages commonly
	86	used in machine learning and DL/NN.
	87	-l Build the ${DOCKER_NAME}/learn image.
	88
	89	-u Ignore the docker image cache when building. This will
	90	cause the container(s) to be built from scratch.
	91	-h This help message.
	92
	93	BASE_OS: The following have been recently tested:
	94	ubuntu:20.04 # aka Focal Fossa
	95	ubuntu:22.04 # aka Jammy Jellyfish
	96	ubuntu:24.04 # aka Noble Numbat
	97	ubuntu:25.10 # aka Questing Quokka
	98	debian:bookworm # Released June 2023
	99	debian:trixie # Released August 2025
	100	latest (or unspecified/blank) defaults to ${BASE_OS}
	101
	102	Since gcc-11 or later is needed, debian:bullseye (Aug 2021) won't work.
	103
	104	DOCKER_NAME: The Docker account to use (default 'opencog').
	105	GITHUB_NAME: The GitHub account to use (default 'opencog') \n" "$SELF_NAME"
	106	}
	107
	108	if [ $SHOW_USAGE ]; then
	109	usage
	110	exit 0
	111	fi
	112
	113	# -----------------------------------------------------------------------------
	114	# Sanity check
	115
	116	if [ $UNKNOWN_FLAGS ] ; then usage; exit 1 ; fi
	117	if [ $NO_ARGS ] ; then usage ; fi
	118
	119	if ! command -v docker &> /dev/null
	120	then
	121	echo ""
	122	echo "Error: docker could not be found!"
	123	echo "You can fix this on Debian/Ubuntu by saying:"
	124	echo "$ sudo apt install docker.io"
	125	exit 1
	126	fi
	127
	128	# -----------------------------------------------------------------------------
	129	## Shared docker build options
	130
	131	OCPKG_OPTION=""
	132	if [ ! -z "$OCPKG_URL" ]; then
	133	OCPKG_OPTION="--build-arg OCPKG_URL=$OCPKG_URL"
	134	fi
	135	BASE_OS_OPTION="--build-arg BASE_OS=$BASE_OS"
	136	OS_VERSION_OPTION="--build-arg OS_VERSION=$OS_VERSION"
	137	GITHUB_OPTION="--build-arg GITHUB_NAME=$GITHUB_NAME"
	138
	139	BUILD_OPTIONS="$CACHE_OPTION $BASE_OS_OPTION $OS_VERSION_OPTION $OCPKG_OPTION $GITHUB_OPTION"
	140
	141	# -----------------------------------------------------------------------------
	142	## Build opencog/opencog-deps image.
	143	build_opencog_deps() {
	144	echo "---- Starting build of ${DOCKER_NAME}/opencog-deps:${OS_VERSION} ----"
	145	docker build $BUILD_OPTIONS -t ${DOCKER_NAME}/opencog-deps:${OS_VERSION} base
	146	echo "---- Finished build of ${DOCKER_NAME}/opencog-deps:${OS_VERSION} ----"
	147	}
	148
	149	## If the opencog/opencog-deps image hasn't been built yet then build it.
	150	check_opencog_deps() {
	151	if [ -z "$(docker images ${DOCKER_NAME}/opencog-deps | grep -i opencog-deps)" ]; then
	152	build_opencog_deps
	153	fi
	154	}
	155
	156	# -----------------------------------------------------------------------------
	157	## Build opencog/atomspace image.
	158	build_atomspace() {
	159	check_opencog_deps
	160	echo "---- Starting build of ${DOCKER_NAME}/atomspace:${OS_VERSION} ----"
	161	docker build $BUILD_OPTIONS -t ${DOCKER_NAME}/atomspace:${OS_VERSION} atomspace
	162	echo "---- Finished build of ${DOCKER_NAME}/atomspace:${OS_VERSION} ----"
	163	}
	164
	165	## If the opencog/atomspace image hasn't been built yet then build it.
	166	check_atomspace() {
	167	if [ -z "$(docker images ${DOCKER_NAME}/atomspace | grep -i atomspace)" ]; then
	168	build_atomspace
	169	fi
	170	}
	171
	172	# -----------------------------------------------------------------------------
	173	## Pull all images needed for development from hub.docker.com/u/opencog/
	174	pull_dev_images() {
	175	echo "---- Starting pull of opencog development images ----"
	176	docker pull ${DOCKER_NAME}/opencog-deps
	177	docker pull ${DOCKER_NAME}/atomspace
	178	docker pull ${DOCKER_NAME}/atomspace-py
	179	docker pull ${DOCKER_NAME}/learn
	180	echo "---- Finished pull of opencog development images ----"
	181	}
	182
	183	# -----------------------------------------------------------------------------
	184	# NOTE: To avoid repetion of builds don't reorder the sequence here.
	185
	186	if [ $PULL_DEV_IMAGES ]; then
	187	pull_dev_images
	188	exit 0
	189	fi
	190
	191	if [ $BUILD_OPENCOG_BASE_IMAGE ]; then
	192	build_opencog_deps
	193	fi
	194
	195	if [ $BUILD_ATOMSPACE_IMAGE ]; then
	196	build_atomspace
	197	fi
	198
	199	if [ $BUILD_ATOMSPACE_PYTHON_IMAGE ]; then
	200	echo "---- Starting build of ${DOCKER_NAME}/atomspace-py:${OS_VERSION} ----"
	201	docker build $BUILD_OPTIONS -t ${DOCKER_NAME}/atomspace-py:${OS_VERSION} ${DIR_NAME}/atomspace-py
	202	echo "---- Finished build of ${DOCKER_NAME}/atomspace-py:${OS_VERSION} ----"
	203	fi
	204
	205	if [ $BUILD_LEARN_IMAGE ] ; then
	206	echo "---- Starting build of ${DOCKER_NAME}/learn:${OS_VERSION} ----"
	207	docker build $BUILD_OPTIONS -t ${DOCKER_NAME}/learn:${OS_VERSION} ${DIR_NAME}/learn
	208	echo "---- Finished build of ${DOCKER_NAME}/learn:${OS_VERSION} ----"
	209	fi
	210
	211	# -----------------------------------------------------------------------------

opencog/lang-model/Dockerfile +44 -0

…	…	@@ -0,0 +1,44 @@
	1	#
	2	# Container with crude language data.
	3	# Experimental. This does NOT do anything interesting! Demo only.
	4	#
	5	# Steps:
	6	# 1. docker build -t opencog/lang-model .
	7	# 2. docker create --name lang-model -p 17001:19014
	8	# -it opencog/lang-model
	9	# Note: the -p flag is external_port:internal_port
	10	# The scripts in this container start a cogserver on 19014
	11	# 3. docker start -i lang-model
	12	# 4. cd experiments/run-word-pairs
	13	# 5. . 0-pipeline.sh
	14	# 6. . pairs-en-conf.sh
	15	# 7. Run either tmux or byobu according to taste.
	16	# 8. guile -l scm/cogserver-nav.scm
	17	# Wait until the guile command prompt appears.
	18	#
	19	# 9. Outside of the container, connect to the cogserver:
	20	# rlwrap telnet localhost 17001
	21	# Then try various commands: help, status, top, etc.
	22
	23	FROM opencog/learn
	24
	25	USER opencog
	26	WORKDIR /home/opencog
	27
	28	RUN mkdir /home/opencog/data
	29	WORKDIR /home/opencog/data
	30
	31	# RUN wget --progress=bar:force:noscroll https://linas.org/datasets/r13-all-in-one.tar.bz2
	32	RUN curl https://linas.org/datasets/r13-all-in-one.tar.bz2 -o r13-all-in-one.tar.bz2
	33	RUN tar -jxf r13-all-in-one.tar.bz2
	34	RUN rm r13-all-in-one.tar.bz2
	35
	36	COPY /scripts/ /home/opencog
	37
	38	# Setup the workspace for developers
	39	WORKDIR /home/opencog
	40	RUN sudo chown -R opencog:opencog experiments
	41
	42	CMD /bin/bash
	43
	44	ONBUILD USER root

opencog/lang-model/scripts/experiments/run-word-pairs/0-pipeline.sh +30 -0

…	…	@@ -0,0 +1,30 @@
	1	#! /bin/bash
	2	#
	3	# 0-pipeline.sh
	4	#
	5	# Master file for configuration parameters for language learning.
	6	# This particular file is aimed at artificial-language/corpus
	7	# generation and processing.
	8	# ----------
	9
	10	# Location where processing scripts are installed.
	11	# export COMMON_DIR=/usr/local/share/opencog/learn/run-common
	12	export COMMON_DIR=/home/ubuntu/src/learn/run-common
	13
	14	# Location where the RocksDB databases are kept. This allows different
	15	# experiments to re-use the same filenames, changing only the directory.
	16	# It is recommended that this be located on an SSD disk, for
	17	# performance.
	18	# If you are using Postgres, just delete `ROCKS_DATA_DIR`.
	19	# export ROCKS_DATA_DIR=/home/atomspace/data/
	20	export ROCKS_DATA_DIR=/home/opencog/data/
	21
	22	# Directory in which configuration parameters (including this file)
	23	# are located. Obtained automatically; don't change.
	24	export CONFIG_DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
	25
	26	# The master config file, which is this file. Don't change.
	27	export MASTER_CONFIG_FILE=${CONFIG_DIR}/$( basename "${BASH_SOURCE[0]}" )
	28
	29	# File containing grammatical-class configuration
	30	# export GRAM_CONF_FILE=$CONFIG_DIR/4-gram-conf-en.sh

opencog/lang-model/scripts/experiments/run-word-pairs/README.md +219 -0

…	…	@@ -0,0 +1,219 @@
	1
	2	Word-pairs Visualization Server
	3	===============================
	4	The code in this directory configures and runs an AtomSpace
	5	providing access to word-pair correlation data, word-disjunct
	6	data, and word similarity scores.
	7
	8	Instructions
	9	------------
	10	Get your hands on one of these datasets (or create your own; see
	11	the opencog/learn project for instructions how.) Contact Linas
	12	to get these datasets.
	13
	14	* `run-1-marg-tranche-123.rdb` -- Requires 59GB to load word-pairs,
	15	60 GB to be usable, so not eligible.
	16
	17	* `run-1-t12-tsup-1-1-1.rdb` -- 6.4 GB to load word pairs and
	18	also disjuncts. 9 minutes to load everything.
	19	7 GB after computing (w,d) MI
	20
	21	* r13-one-sim200.rdb -- 8.2GB to load word-pairs, word-disjunct
	22	pairs and similarities.
	23
	24	* r13-all-in-one.rdb -- trimmed, modified copy of `r14-sim200.rdb`
	25	It has the following stuff:
	26	-- Word pairs, from long ago. These are trimmed to remove all
	27	word-pairs with MI of 1.1 or less, leaving 3.9M pairs.
	28	-- word-pair MI that are appropriate, prior to this trim.
	29	-- word-disjunct pairs, with shape marginals on them.
	30	-- word-disjunct MI values. (plain, not including shapes)
	31	-- similarities for top-ranked 1000 words
	32	-- Requires 6.5 GB to load word-pairs only.
	33	-- Grows to 8.3 GB after loading word-disjunct pairs.
	34	-- Grows to 8.6 GB to load similarities.
	35
	36	Then the usual: git clone and compile and install cogutils, the
	37	atomspace, the cogserver, atomspace-rocks and the learn project.
	38
	39	Next, configure the config files to suit your tastes: edit the
	40	files `0-pipeline.sh` and `pairs-en-conf.sh` in this directory.
	41	Source them, they set environment variables. To source, say this:
	42	```
	43	. 0-pipeline.sh
	44	. pairs-en-conf.sh
	45	```
	46
	47	Next, start the cogserver. Doing this will automatically load
	48	the datasets:
	49	```
	50	guile -l scm/cogserver-nav.scm
	51	```
	52	When the above gets to the guile prompt, it will be ready to serve
	53	data to the visualizer.
	54
	55	General Exploration
	56	===================
	57	A scheme prompt is directly accessible via the cogserver:
	58	```
	59	rlwrap telnet localhost 19014
	60	scm
	61	(format #t "Hello world\n")
	62	```
	63
	64	There are three types of data in this dataset: word-word pairs,
	65	word-disjunct pairs and word-similarities. The first example
	66	is for word-word pairs, showing how to find related words.
	67
	68	Many words are NOT in the dataset, so random experimentation
	69	may result in no replies.
	70
	71	To get a list of all word-word pairs, with a given word on the right:
	72	```
	73	(pair-stars 'left-stars (WordNode "end"))
	74	```
	75
	76	This will return a long list, the last part of which is:
	77	```
	78	(EvaluationLink (ctv 1 0 19)
	79	(LgLinkNode "ANY")
	80	(ListLink (WordNode "cold") (WordNode "end")))
	81	(EvaluationLink (ctv 1 0 10)
	82	(LgLinkNode "ANY")
	83	(ListLink (WordNode "seen") (WordNode "end")))
	84	(EvaluationLink (ctv 1 0 34)
	85	(LgLinkNode "ANY")
	86	(ListLink (WordNode "quick") (WordNode "end")))
	87	(EvaluationLink (ctv 1 0 18)
	88	(LgLinkNode "ANY")
	89	(ListLink (WordNode "horrible") (WordNode "end")))
	90	```
	91	Ignore the `ctv` (this is an observation count)
	92
	93	These "pairs" are "edges", the name of the edge is "ANY",
	94	and there's a bunch of numerical data hanging off each edge.
	95
	96	The "relatedness" of a word-pair can be obtained by looking
	97	at it's mutual information (MI). View this as follows:
	98	```
	99	(pair-freq 'pair-fmi
	100	(Evaluation (LgLink "ANY") (List (Word "horrible") (Word "end"))))
	101	```
	102	The above returns a single floating point number, in the range of
	103	about -20 to about +20, indicating the MI of the pair. The higher,
	104	the better.
	105
	106	Pairs, with the word on the left:
	107	```
	108	(pair-stars 'right-stars (Word "end"))
	109	```
	110
	111	The "other end" of a given word (the other vertex at the
	112	end of an edge) can be gotten with:
	113	```
	114	(pair-stars 'right-duals (Word "end"))
	115	(pair-stars 'left-duals (Word "end"))
	116
	117	Simplified Navigation API
	118	-------------------------
	119	To simplify data access, there's a thin wrapper which can be used to
	120	navigate the word-pair graph. Given a word, it will move "forward",
	121	returning the top N related words, ranked in MI order. The "backward"
	122	move moves left. The edge-score is a single floating point number for
	123	that word-pair.
	124
	125	```
	126	;; Examples
	127	;;
	128	;; Create a navigator for the given matrix and ranking objects
	129	;; In this case, pair-stars and pair-freq ...
	130	;; All of these arguments should be taken from a config file.
	131	;;
	132	(define (pair-score EDGE) (pair-freq 'pair-fmi EDGE))
	133	(define pair-nav
	134	(make-nav pair-stars 'right-duals 'left-duals pair-score 10))
	135
	136	;; Examples
	137	(pair-nav 'forward (Word "end"))
	138	(pair-nav 'backward (Word "end"))
	139
	140	;; Scores, from the forwards-list
	141	(pair-nav 'edge-score (Word "end") (Word "chapter"))
	142	(pair-nav 'edge-score (Word "end") (Word "notes"))
	143	(pair-nav 'edge-score (Word "end") (Word "badly"))
	144
	145	;; From the backwards list
	146	(pair-nav 'edge-score (Word "rear") (Word "end"))
	147	(pair-nav 'edge-score (Word "far") (Word "end"))
	148	```
	149
	150	Word-disjunct pairs
	151	-------------------
	152	A lot like the above, except:
	153	```
	154	(cset-stars 'right-stars (WordNode "end"))
	155	```
	156
	157	Similarity examples
	158	-------------------
	159	The dataset also contains similarity scores for the top most-frequent
	160	1000 words (the "triangle number" of (1001 x 1000 / 2) pairs; about
	161	half a million).
	162
	163	Raw access:
	164	```
	165	(sim-stars 'left-basis-size)
	166	(sim-stars 'right-duals (Word "end"))
	167	(sim-obj 'describe)
	168	(sim-obj 'pair-similarity (sim-stars 'get-pair (Word "end") (Word "well")))
	169	```
	170	The above is nasty in it's native form, so the wrapper in `navigate.scm`
	171	comes to the rescue:
	172
	173	```
	174	;; First, build the API:
	175	;;
	176	(define (sim-fmi EDGE)
	177	(cog-value-ref (sim-obj 'pair-similarity EDGE) 0))
	178	(define (sim-vmi EDGE)
	179	(cog-value-ref (sim-obj 'pair-similarity EDGE) 1))
	180
	181	(define sim-fmi-nav
	182	(make-nav sim-stars 'right-duals 'left-duals sim-fmi 10))
	183	(define sim-vmi-nav
	184	(make-nav sim-stars 'right-duals 'left-duals sim-vmi 10))
	185
	186	;; Now, actually use the API:
	187	;;
	188	(sim-fmi-nav 'forward (Word "end"))
	189	(sim-fmi-nav 'edge-score (Word "end") (Word "out"))
	190	```
	191	The dataset contains two different similarity scores, the "fmi"
	192	fractional-MI and the "vmi" variational-MI. The vmi is just the fmi
	193	offset the the mean of the log of the frequency.
	194
	195	Lots of other similarity scores are possible; they're just not in
	196	this dataset. That is, the dataset just caches some pre-computed
	197	values, as otherwise it is fairly CPU-intensive to compute.
	198	(Typically about 10 sims per second, but you need thousands of
	199	these to see which ones are the best/closest. Almost all words
	200	are NOT similar!)
	201
	202	Documentation
	203	=============
	204	All matrix objects have built-in documentation. For example:
	205	```
	206	(pair-freq 'help)
	207	(pair-freq 'describe)
	208	(pair-stars 'help)
	209	(pair-stars 'describe)
	210	```
	211
	212	TODO:
	213	-----
	214	This:
	215	```
	216	;;; (cog-atomspace-ro!) ;; No ... this fails somehow.
	217	```
	218
	219	========

opencog/lang-model/scripts/experiments/run-word-pairs/cogserver/cogserver-gram.conf +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#
	2	# Configuration for a production OpenCog server - English MST
	3	#
	4	SERVER_PORT = 19014
	5	LOG_FILE = /tmp/run-14.log
	6
	7	# Other possible log levels are "error", "warn", "info", "debug" and "fine"
	8	# LOG_LEVEL = debug
	9	LOG_LEVEL = info
	10	LOG_TO_STDOUT = false
	11
	12	# ANSI prompts are colorful.
	13	PROMPT = "run-14> "
	14	ANSI_PROMPT = "run-14> "
	15	SCM_PROMPT = "guile-run-14> "
	16	ANSI_SCM_PROMPT = "guile-run-14> "
	17	ANSI_ENABLED = true

opencog/lang-model/scripts/experiments/run-word-pairs/cogserver/cogserver-pairs.conf +17 -0

…	…	@@ -0,0 +1,17 @@
	1	#
	2	# Configuration for a production OpenCog server - English MST
	3	#
	4	SERVER_PORT = 19014
	5	LOG_FILE = /tmp/public-pairs.log
	6
	7	# Other possible log levels are "error", "warn", "info", "debug" and "fine"
	8	# LOG_LEVEL = debug
	9	LOG_LEVEL = info
	10	LOG_TO_STDOUT = false
	11
	12	# ANSI prompts are colorful.
	13	PROMPT = "en-pairs> "
	14	ANSI_PROMPT = "en-pairs> "
	15	SCM_PROMPT = "guile-en-pairs> "
	16	ANSI_SCM_PROMPT = "guile-en-pairs> "
	17	ANSI_ENABLED = true

opencog/lang-model/scripts/experiments/run-word-pairs/pairs-en-conf.sh +19 -0

…	…	@@ -0,0 +1,19 @@
	1	#! /bin/bash
	2	#
	3	# Configuration parameters for disjunct distributions.
	4	#
	5	# IPv4 hostname and port number of where the cogserver is running.
	6	export HOSTNAME=localhost
	7	export PORT=19014
	8
	9	export PROMPT="(pairs-en)"
	10
	11	export COGSERVER_CONF=${CONFIG_DIR}/cogserver/cogserver-pairs.conf
	12
	13	export MST_DB=${ROCKS_DATA_DIR}/r14-imp-q0.7-c0.9-n0.rdb
	14	export PAIRS_DB=${ROCKS_DATA_DIR}/run-1-en_pairs-tranche-123.rdb
	15	export ALL_DB=${ROCKS_DATA_DIR}/run-1-t12-tsup-1-1-1.rdb
	16	export ALL_DB=${ROCKS_DATA_DIR}/r13-one-sim200.rdb
	17	export ALL_DB=${ROCKS_DATA_DIR}/r13-all-in-one.rdb
	18
	19	export STORAGE_NODE="(RocksStorageNode \"rocks://${ALL_DB}\")"

opencog/lang-model/scripts/experiments/run-word-pairs/scm/cogserver-nav.scm +48 -0

…	…	@@ -0,0 +1,48 @@
	1	;
	2	; cogserver-nav.scm
	3	;
	4	; Run everything needed to get ready to allow visualization of
	5	; the language-learning word-pairs and word-disjunct datasets.
	6	;
	7	; Starts the CogServer, opens the database, loads the word-pairs,
	8	; disjuncts and similarity scores in the database (which usually
	9	; takes about 10-15 minutes.)
	10	;
	11	(include "cogserver.scm")
	12
	13	; Load up the disjuncts -- this can take over half an hour!
	14	(display "Fetch all data. This may take 5-15 minutes.\n")
	15
	16	; Load the word-pairs.
	17	(define pair-obj (make-any-link-api))
	18	(pair-obj 'fetch-pairs)
	19	(define pair-stars (add-pair-stars pair-obj))
	20	(print-matrix-summary-report pair-stars)
	21	(define pair-freq (add-pair-freq-api pair-stars))
	22
	23	; Load the word-disjunct data.
	24	(define cset-obj (make-pseudo-cset-api))
	25	(cset-obj 'fetch-pairs)
	26	(define cset-stars (add-pair-stars cset-obj))
	27	(print-matrix-summary-report cset-stars)
	28	(define cset-freq (add-pair-freq-api cset-stars))
	29
	30	; Load the similarity scores
	31	(define (do-add-similarity-api LLOBJ)
	32	(define SIM-ID "shape-mi")
	33	(add-similarity-api LLOBJ #f SIM-ID))
	34
	35	(define sim-obj (do-add-similarity-api cset-obj))
	36	(sim-obj 'fetch-pairs)
	37	(define sim-stars (add-pair-stars sim-obj))
	38
	39	; Close the database to avoid accidental damage.
	40	(cog-close storage-node)
	41
	42	; Sigh It would be nice to mark the atomspace read-only,
	43	; but that breaks things. Oh well.
	44	;;; (cog-atomspace-ro!)
	45	;;; (cog-push-atomspace)
	46
	47	; Now load additional navigation tools.
	48	(include "navigate.scm")

opencog/lang-model/scripts/experiments/run-word-pairs/scm/cogserver.scm +66 -0

…	…	@@ -0,0 +1,66 @@
	1	#! /usr/bin/env -S guile
	2	!#
	3	;
	4	; cogserver.scm
	5	; ATTENTION! This is a COPY of opencog/learn/run-common/cogserver.scm
	6	; Editing this file is not recommended!
	7	;
	8	; Perform language-learning pipeline module loading and CogServer setup.
	9	; Loads all needed modules, starts the CogServer, opens the database.
	10	;
	11	; Configurable parameters are pulled from the shell environment.
	12	;
	13	(use-modules (system repl common))
	14	(use-modules (opencog) (opencog logger))
	15	(use-modules (opencog persist))
	16	(use-modules (opencog matrix))
	17	(use-modules (opencog nlp) (opencog learn))
	18	(use-modules (opencog cogserver))
	19	(use-modules (srfi srfi-1))
	20
	21	(define env-prompt (getenv "PROMPT"))
	22
	23	; Avoid mystery crash on cold startup.
	24	(when (not env-prompt)
	25	(format #t "Error: Learning pipeline not configured!\n")
	26	(format #t "Did you forget to source a config file?\n")
	27	(format #t "Config files are in the `run-config` directory.\n")
	28	(exit -1))
	29
	30	; Prompt magic, copied from `module/system/repl/common.scm`
	31	(define (cog-prompt)
	32	(let ((level (length (cond
	33	((fluid-ref *repl-stack*) => cdr)
	34	(else '())))))
	35	(if (zero? level)
	36	(string-append env-prompt "> ")
	37	(format #f "~A [~A]> " env-prompt level))))
	38
	39	(repl-default-prompt-set! cog-prompt)
	40
	41	; Start the cogserver using the indicated config file.
	42	(start-cogserver (getenv "COGSERVER_CONF"))
	43
	44	; Open the database.
	45	(define sns (getenv "STORAGE_NODE"))
	46	(cond
	47	((string-prefix? "(Rocks" sns) (use-modules (opencog persist-rocks)))
	48	((string-prefix? "(Postgres" sns) (use-modules (opencog persist-sql)))
	49	((string-prefix? "(Cog" sns) (use-modules (opencog persist-cog)))
	50	(else (throw 'bad-storage-node 'unknown
	51	(format #f "Unknown storage node type ~A\n" sns))))
	52
	53	(define storage-node (eval-string sns))
	54	(cog-open storage-node)
	55
	56	; -----------------------------------------------------------
	57	; Enable automated server shutdown. This waits until the server
	58	; is idle (taken to be a sign that there's no more text to be
	59	; processed) and then exits guile.
	60	(define (exit-server)
	61	(block-until-idle 0.01)
	62	(cog-close storage-node)
	63	(block-until-idle 0.01)
	64	(exit 0))
	65
	66	; -----------------------------------------------------------

opencog/lang-model/scripts/experiments/run-word-pairs/scm/navigate.scm +154 -0

…	…	@@ -0,0 +1,154 @@
	1	;
	2	; navigate.scm
	3	;
	4	; Quick-n-dirty wrapper for getting word-pair similarity.
	5	; Assumes that there are matrix objects and loaded data
	6	; as descrbied in README.md
	7	;
	8
	9
	10	(use-modules (srfi srfi-1))
	11
	12	; General terminology:
	13	; The "stars" are the edges, the duals are the other vertex.
	14	; So, given a vertex, the left-stars are a list of all edges
	15	; pointing at the vertex. The right-stars are all the edges
	16	; pointing away from the vertex. The left-duals are all the
	17	; vertices that have edges pointing at the target. The right-duals
	18	; are all the vertices that have edges pointing away from the target.
	19	;
	20	; The MI is the mutual information of an edge. Get it by saying
	21	; `(pair-freq 'pair-fmi edge-atom)`
	22	; -----------------------------------------
	23
	24	; Create a simple object with some methods on it ...
	25	(define (make-nav STARS-OBJ FWD-METHOD BACK-METHOD
	26	SCORE-EDGE NUM-TO-SHOW)
	27	"
	28	make-navigator -- Generic graph navigation object
	29	See examples for more info.
	30	"
	31	; Make a short list in sorted order.
	32	(define (short-list FWD TARGET-VERTEX)
	33
	34	; Depending on whether FWD is #t or #f,
	35	; get the edge pointing towards or away from the target.
	36	(define (get-edge OTHER-VERTEX)
	37	(if FWD
	38	(STARS-OBJ 'get-pair TARGET-VERTEX OTHER-VERTEX)
	39	(STARS-OBJ 'get-pair OTHER-VERTEX TARGET-VERTEX)))
	40
	41	; Define a compare function that compares two
	42	; vertices... assuming both have the target-vertex
	43	; in common.
	44	(define (compare-fun VTX-A VTX-B)
	45	(> (SCORE-EDGE (get-edge VTX-A))
	46	(SCORE-EDGE (get-edge VTX-B))))
	47
	48	; Get the list of all vertices that are joined
	49	; by some edge to the target vertex.
	50	(define tail-verts
	51	(if FWD
	52	(STARS-OBJ FWD-METHOD TARGET-VERTEX)
	53	(STARS-OBJ BACK-METHOD TARGET-VERTEX)))
	54
	55	; Sort the list above, and then return the
	56	; first NUM-TO-SHOW of that list.
	57	(take (sort tail-verts compare-fun) NUM-TO-SHOW))
	58
	59	; Return an edge-score for the given edge.
	60	; This is a trivial wrapper.
	61	(define (escore LEFT-VTX RIGHT-VTX)
	62	(SCORE-EDGE (STARS-OBJ 'get-pair LEFT-VTX RIGHT-VTX)))
	63
	64	; Call the various methods on the object.
	65	(lambda (message . args)
	66	(case message
	67	((forward) (short-list #t args))
	68	((backward) (short-list #f args))
	69	((edge-score) (apply escore args))
	70	(else "Ooops! unknown method!")
	71	))
	72	)
	73
	74	; -----------------------------------------
	75
	76	; Create a simple object with some methods on it ...
	77	(define (make-navigator STARS-OBJ FWD-METHOD BACK-METHOD
	78	RANK-OBJ RANK-METHOD NUM-TO-SHOW)
	79	"
	80	make-navigator -- Generic graph navigation object
	81	See examples for more info.
	82	"
	83	(define (score-edge EDGE) (RANK-OBJ RANK-METHOD EDGE))
	84
	85	(make-nav STARS-OBJ FWD-METHOD BACK-METHOD score-edge NUM-TO-SHOW)
	86	)
	87
	88	; =========================================================
	89	;; Examples
	90	;;
	91	;; Create a navigator for the given matrix and ranking objects
	92	;; In this case, pair-stars and pair-freq ...
	93	;; All of these arguments should be taken from a config file.
	94	;;
	95	; (define (pair-score EDGE) (pair-freq 'pair-fmi EDGE))
	96	; (define pair-nav
	97	; (make-nav pair-stars 'right-duals 'left-duals pair-score 10))
	98	;
	99	;; Examples
	100	; (pair-nav 'forward (Word "end"))
	101	; (pair-nav 'backward (Word "end"))
	102	;
	103	;; Scores, from the forwards-list
	104	; (pair-nav 'edge-score (Word "end") (Word "chapter"))
	105	; (pair-nav 'edge-score (Word "end") (Word "notes"))
	106	; (pair-nav 'edge-score (Word "end") (Word "badly"))
	107	;
	108	;; From the backwards list
	109	; (pair-nav 'edge-score (Word "rear") (Word "end"))
	110	; (pair-nav 'edge-score (Word "far") (Word "end"))
	111	;
	112	;; =========================================================
	113	;; Like above, but for word similarity.
	114	;;
	115	;; First, build the API:
	116	;;
	117	; (define (sim-fmi EDGE)
	118	; (cog-value-ref (sim-obj 'pair-similarity EDGE) 0))
	119	; (define (sim-vmi EDGE)
	120	; (cog-value-ref (sim-obj 'pair-similarity EDGE) 1))
	121	;
	122	; (define sim-fmi-nav
	123	; (make-nav sim-stars 'right-duals 'left-duals sim-fmi 10))
	124	; (define sim-vmi-nav
	125	; (make-nav sim-stars 'right-duals 'left-duals sim-vmi 10))
	126	;
	127	;; Now, actually use the API:
	128	;;
	129	; (sim-fmi-nav 'forward (Word "end"))
	130	; (sim-fmi-nav 'edge-score (Word "end") (Word "out"))
	131	;
	132	;
	133	;; =========================================================
	134	;; =========================================================
	135	;
	136	;
	137	;;; print documentation:
	138	; (pair-stars 'describe)
	139	; (pair-freq 'describe)
	140	;
	141	;;; Examples of vertex weights:
	142	; (pair-freq 'left-wild-logli (Word "start"))
	143	; (pair-freq 'right-wild-logli (Word "start"))
	144	; (pair-freq 'right-wild-fentropy (Word "start"))
	145	; (pair-freq 'left-wild-fentropy (Word "start"))
	146	; (pair-freq 'left-wild-fmi (Word "start"))
	147	; (pair-freq 'right-wild-fmi (Word "start"))
	148	;
	149	;; The above could be placed in a popup menu over a vertex
	150	;; (for example) or elsewhere.
	151	;
	152	;;; Examples of edge weights:
	153	; (pair-freq 'pair-logli (pair-stars 'get-pair (Word "start") (Word "playing")))
	154	; (pair-freq 'pair-fmi (pair-stars 'get-pair (Word "start") (Word "playing")))

opencog/lang-mst/Dockerfile +20 -0

…	…	@@ -0,0 +1,20 @@
	1	#
	2	# Container with Maximum-Spanning-Tree demo.
	3	#
	4	FROM opencog/learn:latest
	5
	6	USER opencog
	7	WORKDIR /home/opencog
	8
	9	# Set up the basic working directories
	10	RUN ./setup-for-experiments.sh
	11
	12	# Copy in the fully-automated MST scripts.
	13	COPY --chown=opencog:opencog /scripts/ .
	14
	15	# Copy in the demo Link Grammar dictionary.
	16	COPY --chown=opencog:opencog /demo-dict-mpg/ demo-dict-mpg
	17
	18	CMD /bin/bash
	19
	20	ONBUILD USER root

opencog/lang-mst/README.md +237 -0

…	…	@@ -0,0 +1,237 @@
	1	lang-mst
	2	--------
	3	Compute Maximum Spanning Tree (MST) disjuncts from text.
	4
	5	This container provides a basic demo, together with a fully automated
	6	script, for counting MST disjuncts in text. It illustrates the second
	7	stage of the language-learning pipeline. It assumes that the first
	8	stage, from the `lang-pairs` container, has been done, and the resulting
	9	dataset is available.
	10
	11	New users should follow the manual process, given below. Instructions
	12	for a fully-automated run are given at the end.
	13
	14	Common setup
	15	------------
	16	Setup needed for both the manual demo, and the full-automated runs.
	17
	18	1. Create this Docker image:
	19	```
	20	docker build -t opencog/lang-mst .
	21	```
	22	2. Create a container:
	23	`docker create --name mst-counter -it opencog/lang-mst`
	24
	25	3. (Optional) If you want access to the CogServer from outside the
	26	container, be sure to export the CogServer port:
	27	`docker create --name mst-counter -p 17003:17003 -it opencog/lang-mst`
	28	Note that this is a different port, from the pair-counting port;
	29	thus, you can run both at the same time.
	30
	31	4. Copy the word-pair database into the container. The default config
	32	files expect it at `data/mpg-parse.rdb`. The `lang-pairs` docker
	33	scripts previously dropped off the pairs DB at `data/word-pairs.rdb`.
	34	Thus:
	35	```
	36	docker container cp data/word-pairs.rdb mst-counter:/home/opencog/data/mpg-parse.rdb
	37	```
	38
	39	5. Copy the the text corpus into the container. The default config
	40	files expect it at `text/pair-counted`. Note that this is the
	41	place where the input corpus was moved to, during pair-counting,
	42	so if you just grab that, it will all work.
	43	```
	44	docker container cp text mst-counter:/home/opencog/
	45	```
	46
	47	6. Start the container: `docker start -i mst-counter`
	48	This will drop you into a shell prompt inside the container.
	49
	50	7. Revise ownership of the data and text directories. The `docker cp`
	51	above fails to set these correctly. Inside the container:
	52	```
	53	sudo chown -R opencog:opencog text
	54	sudo chown -R opencog:opencog data
	55	```
	56
	57	Manual processing
	58	-----------------
	59	Manual processing consists mostly of setting up an environment, and
	60	then launching the MST counting scripts, and then monitoring progress.
	61	Short instructions:
	62
	63	0. If you haven't already done so, then: `docker start -i mst-counter`.
	64
	65	1. Set up the environment. Just cut-n-paste the below:
	66	```
	67	# Everything we need has already been set up in run-1.
	68	# Leave it as-is, in case you want to experiment there.
	69	# Do the actual MST counting in run-3.
	70	# Avoid confusion by removing the config for earlier and later stages.
	71	cd ~/experiments/
	72	cp -pr run-1 run-3
	73	cd run-3
	74	rm -f 2-pair-conf.sh 4-gram-conf.sh
	75
	76	# Use the default configuration.
	77	source 0-pipeline.sh
	78	source 3-mpg-conf.sh
	79
	80	# Remove scripts for earlier and later stages (avoid confusion)
	81	cd run
	82	rm -rf 2-word-pairs 4-gram-class
	83
	84	# Prepare to run the MST counting pipeline in byobu.
	85	cd 3-mst-parsing
	86	```
	87
	88	2. Start up a byobu/tmux session, just as before, for the word-pairs:
	89	```
	90	./run-mst-shells.sh
	91	```
	92
	93	3. Use F3 and F4 to bounce between byobu/tmux panels. Navigate to the
	94	`cogserv` panel. Note that it is loading the word-pair dataset. This
	95	may take a while -- 5-10 minutes, half-an-hour or longer, depending on
	96	the dataset.
	97
	98	4. Navigate to the `telnet` panel. Explore. Run `top` in the telnet
	99	session, to see what the CogServer is doing. It will be idle.
	100
	101	5. Navigate to the `submit` panel, and run `./mst-submit.sh`. This will
	102	start passing the text files into the system. Their processing will
	103	stall, however, until the word-pairs are fully loaded. You can watch
	104	them in the `telnet` panel.
	105
	106	6. You can toggle to the `cogserv` and print some basic progress stats
	107	by saying `(monitor-parse-rate "hello world")` and `(cog-report-counts)`
	108
	109	7. Processing will continue for hours or days. Processing is done when
	110	the all of the telnet connections have closed, and the guile process
	111	goes idle. Manually exit guile.
	112
	113	8. Run `./compute-mst-marginals.sh` (in the `cogserv` panel, after
	114	exiting guile.) This computes marginal entropies and MI values,
	115	needed for the next stage of processing.
	116
	117
	118	Link Parser Demo
	119	----------------
	120	The resulting disjunct database can be used by the Link Grammar parser,
	121	as an "ordinary" dictionary, i.e. one containing per-word expressions.
	122	The only unusual aspect is that word categories are not used; all
	123	connectors are to specific words.
	124
	125	1. The RocksDB database can only be used by one user at a time, and so,
	126	because the CogServer is already using the database, a copy must be
	127	made. Go to the `spare` tab, and
	128	```
	129	cd ~/data
	130	cp -pr mpg-parse.rdb mpg-parse-copy.rdb
	131	```
	132
	133	2. Start the Link Grammar parser, using the demo dictionary provided.
	134	This dictionary is located in the `~/demo-dict-mpg` directory. It
	135	hard-codes the `mpg-parse-copy.rdb` file location in it.
	136	```
	137	cd ~
	138	link-parser demo-dict-mpg -verbosity=3
	139	```
	140
	141	3. Type in any sentence you wish. If the words appear in the dataset,
	142	and there are appropriate disjuncts on them, then the sentence will
	143	parse.
	144
	145	The parser will be slow to startup, as portions of the database are
	146	loaded, including expressions for the `LEFT-WALL`, of which there will
	147	typically be millions. This size of this set is reduced only by
	148	clustering, done in a later stage. Once a lookup is done, the results
	149	are cached, so later access should be faster. The first-time lookup
	150	of words during parsing is likewise slow; subsequent access is cached.
	151
	152	The dictionary is defined by the config files in `~/demo-dict-mpg`.
	153	You can copy and rename this directory as desired; you just have to
	154	start Link Grammar in the same directory where this is placed.
	155	Editing the `storage.dict` file to create a custom config. A typical
	156	change is to alter where the data is coming from. This is the line
	157	that starts with `#define storage-node`.
	158
	159	Using a previously built container
	160	----------------------------------
	161	If you've followed the instructions above, and then stopped docker or
	162	rebooted, and want to restart that container, then here's how:
	163
	164	1. Restart the docker container. Use the `-i` flag to get an
	165	interactive shell:
	166	```
	167	docker start -i <container-name>
	168	```
	169
	170	2. To run the Link Grammar demo, follow the instructions above.
	171
	172	3. To restart processing after a hiatus, interpolate the earlier
	173	instructions. Typically, this requires restarting the cogserver,
	174	and then waiting for data to load. This can take tens of minutes
	175	or hours.
	176	```
	177	cd ~/experiments/run-3/run/3-mst-parsing
	178	./run-mst-shells.sh
	179	```
	180
	181	Semi-automated
	182	--------------
	183	Some notes about the automation process.
	184
	185	* Processing of texts is held off until all word-pairs are loaded. This
	186	is done with "gates" -- a mutex, called `mst-gate` is created. It is
	187	locked during word-pair loading, and unlocked when done. The text
	188	observers are blocked, waiting for this mutex.
	189
	190	* When the submission of texts for counting has ended, the submit script
	191	calls `(finish-mst-submit)`. This can be re-defined to do anything,
	192	when called. By default its a no-op. The fully-automated scripts define
	193	it so that the CogServer exits.
	194
	195	* When marginals compution finishes, the `/tmp/mst-marginals-done` file
	196	is touched. Docker uses this to self-halt the container that's running.
	197	Yes, this is a non-unique tag, if not running in docker, and it needs
	198	fixing.
	199
	200
	201	Fully automated
	202	---------------
	203	The above has been condensed into a single script, `./autorun.sh`.
	204	It will start the docker container, move datasets into place, perform
	205	the processing, and halt the container when done.
	206
	207	It expects the following:
	208	* A directory `data/mpg-parse.rdb` containing the pairs dataset. Get
	209	this by copying `../lang-pairs/data/word-pairs.rdb` from the previous
	210	pair-counting container.
	211	```
	212	cp -pr ../lang-pairs/data/word-pairs.rdb data/mpg-parse.rdb
	213	```
	214
	215	* A directory `text/pair-counted` containing the text corpus to process.
	216	Get this by copying `../lang-pairs/text` into the current directory.
	217	```
	218	cp -pr ../lang-pairs/text .
	219	```
	220
	221	That's it: the two copies above, then `./autorun.sh`
	222
	223	Upon successful completion, it updates both the `text` and the `data`
	224	directories. The resulting `data/mpg-parse.rdb` will contain the MST
	225	disjuncts and marginals.
	226
	227	It assumes that everything has been correctly configured. If it crashes,
	228	hangs, or if you're just antsy and need to see what's going on inside
	229	the container, just run
	230	```
	231	docker exec -it mst-counter-auto /bin/bash
	232	tmux attach
	233	```
	234	This will attach to the byobu/tmux session; the panel layout is
	235	identical to the manual-mode described above.
	236
	237	------

opencog/lang-mst/autorun.sh +94 -0

…	…	@@ -0,0 +1,94 @@
	1	#! /bin/bash
	2	#
	3	# autorun.sh
	4	#
	5	# Fully-automated MST/MPG parsing. Assumes pair counting has been
	6	# done previously, and that both text and data files are in the
	7	# default locations.
	8	#
	9	# Creates a new container, if none exists, otherwise reuses an existing
	10	# container. Copies text data into it, performs MST counting, computes
	11	# marginals, and copies out the resulting dataset.
	12	#
	13	# Expects to find a text corpus in the `input-pages/pair-counted` directory.
	14	# Expects a database with word-pair marginals in `data/mst-parse.rdb`
	15	#
	16	# If used with the `-u` flag, then an existing container will be updated
	17	# with additional counting. Useful for splitting up large counting runs
	18	# into several stages.
	19	#
	20	# -----------------
	21
	22	MST_CONTAINER=mst-counter-auto
	23	TEXT_DIR=text
	24	DATA_DIR=data
	25
	26	UPDATE=$1
	27
	28	if [[ -z "$(ls $TEXT_DIR)" ]]; then
	29	echo "Error: The $TEXT_DIR directory appears to be empty!"
	30	exit 1
	31	fi
	32
	33	if [[ -z "$(ls $DATA_DIR)" ]]; then
	34	echo "Error: The $DATA_DIR directory appears to be empty!"
	35	exit 1
	36	fi
	37
	38	# Avoid trashing current work.
	39	TAINER=`docker ps |grep $MST_CONTAINER |cut -f1 -d" "`
	40	if test x"$TAINER" != x; then
	41	echo "Container $MST_CONTAINER is already running!"
	42	echo "Running containers cannot be updated."
	43	echo "To stop the existing container, do this:"
	44	echo " docker stop -t 1 $MST_CONTAINER"
	45	echo "If you want a fresh container, then you must also do this:"
	46	echo " docker rm $MST_CONTAINER"
	47	exit 1
	48	fi
	49
	50	TAINER=`docker ps -a |grep $MST_CONTAINER |cut -f1 -d" "`
	51	if test x"$TAINER" == x; then
	52	# Start Fresh
	53	echo "Creating container $MST_CONTAINER"
	54	docker create --name $MST_CONTAINER -it opencog/lang-mst
	55	docker container cp $DATA_DIR/. $MST_CONTAINER:/home/opencog/data
	56
	57	elif test x"$UPDATE" == x-u; then
	58	echo "Re-using existing container $MST_CONTAINER"
	59	else
	60	echo "The container $MST_CONTAINER already exists!"
	61	echo "If you want to update it with additional data,"
	62	echo "then run this script with the -u flag."
	63	echo "If you want to start fresh, then remove it, like so:"
	64	echo " docker rm $MST_CONTAINER"
	65	exit 1
	66	fi
	67
	68	date
	69	docker container cp $TEXT_DIR/. $MST_CONTAINER:/home/opencog/text
	70
	71	echo "Starting container $MST_CONTAINER"
	72	docker start $MST_CONTAINER
	73	docker exec -u 0 $MST_CONTAINER chown -R opencog:opencog /home/opencog/text
	74	docker exec -u 0 $MST_CONTAINER chown -R opencog:opencog /home/opencog/data
	75	docker exec -d $MST_CONTAINER /home/opencog/count-mst.sh
	76	sleep 10
	77
	78	echo "Waiting for MST counting to finish in container $MST_CONTAINER"
	79	echo "Caution: this may take hours, days or weeks!"
	80	echo "If you're nervous and can't stand the wait, try this:"
	81	echo " docker exec -it $MST_CONTAINER /bin/bash"
	82	echo " tmux attach"
	83	echo "and then prowl around in tmux with F3 and F4"
	84	echo "This script will not exit until all processing is done."
	85
	86	docker exec $MST_CONTAINER /home/opencog/count-mst-done.sh
	87
	88	echo "Done MST counting in container $MST_CONTAINER"
	89
	90	echo "Copying MST dataset to $DATA_DIR"
	91	docker container cp $MST_CONTAINER:/home/opencog/data/. $DATA_DIR
	92	docker container cp $MST_CONTAINER:/home/opencog/text/. $TEXT_DIR
	93	echo "Done!"
	94	date

opencog/lang-mst/build.sh +6 -0

…	…	@@ -0,0 +1,6 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for opencog/lang-mst
	4	#
	5	docker build -t opencog/lang-mst .
	6	# docker build --no-cache -t opencog/lang-mst .

opencog/lang-mst/demo-dict-mpg/4.0.affix +9 -0

…	…	@@ -0,0 +1,9 @@
	1
	2	")" "}" "]" ">" » 〉 ） 〕 》 】 ］ 』 」 "’’" "’" '' '
	3	"%" "," "." 。 ":" ";" "?" "!" ‽ ؟ ？ ！ … ... "”" "–" "‐" 、 ～
	4	¢ ₵ ™ ℠ : RPUNC+;
	5
	6	"(" "{" "[" "<" « 〈 （ 〔 《 【 ［ 『 「 `` „ “ ‘ '' ' … ...
	7	¿ ¡ "$"
	8	£ ₤ € ¤ ₳ ฿ ₡ ₢ ₠ ₫ ৳ ƒ ₣ ₲ ₴ ₭ ₺ ℳ ₥ ₦ ₧ ₱ ₰ ₹ ₨ ₪ ﷼ ₸ ₮ ₩ ¥ ៛ 호점
	9	† †† ‡ § ¶ © ® ℗ № "#": LPUNC+;

opencog/lang-mst/demo-dict-mpg/README.md +19 -0

…	…	@@ -0,0 +1,19 @@
	1	Demo Atomese MST dictionary
	2	---------------------------
	3	This is an example configuration for an AtomSpace-backed dictionary,
	4	configured for parsing using disjuncts that were mined from MST parses.
	5	Each disjunct is assigned a cost, based on it's MI.
	6
	7	For general info about Link Grammar dictionaries running out of the
	8	AtomSpace, consult the Link Grammar documentation.
	9
	10	* The `4.0.affix` file specifies punctuation that will be automatically
	11	split off of words.
	12
	13	* The `storage.dict` file specifies assorted configuration data,
	14	including the location of MI data, and how to scale it to obtain
	15	LG-style "costs".
	16
	17	Both of the above files are text files. To adjust the location of the
	18	dictionary, edit the `storage.dict` file and change the line that starts
	19	with `#define storage-node`.

opencog/lang-mst/demo-dict-mpg/storage.dict +146 -0

…	…	@@ -0,0 +1,146 @@
	1	%
	2	% demo-dict-mpg -- Demo dictionary for disjunct parsing
	3	%
	4	% Configuration file for an Atomspace-based dictionary. It will use
	5	% disjunct data in the AtomSpace to perform (conventional) parsing.
	6	% If appropriate disjuncts cannot be found in the dictionary, (that is,
	7	% if a complete parse is not possible), then word-pairs will be used
	8	% to supplement the disjuncts.
	9	%
	10	% All config values can be left as-is; nothing here needs tweaking.
	11	%
	12	% See the `demo-atomese/storage.dict` file in the main Link Grammar
	13	% distribution for detailed documentation.
	14
	15	% -----------------------
	16	% Boilerplate: The dictionary is for English, the English locale
	17	% should be used, and a version number.
	18
	19	#define dictionary-lang en;
	20	#define dictionary-locale en_US.UTF-8;
	21	#define dictionary-version-number 5.12.4;
	22
	23	% Use a copy of the database; we assume the CogServer is running and
	24	% is using the "main" version.
	25	#define storage-node "(RocksStorageNode "rocks:///home/opencog/data/mpg-parse-copy.rdb")";
	26
	27	% Alternative: access the CogServer from outside the container:
	28	% #define storage-node "(CogStorageNode "cog://localhost:17003")";
	29
	30	% -----------------------
	31	% Enable use of sections (disjuncts).
	32	#define enable-sections 1;
	33
	34	% Decorate sections with extra pairs, to fill in for missing connectors.
	35	% Allow up to 2. Decorate sections with extra ANY connectors, as well.
	36	% High costs will make these unlikely to be used in parses.
	37	#define extra-pairs 2;
	38	#define extra-any 1;
	39
	40	% Location where disjunct costs are stored. The cost will be obtained
	41	% from the floating point value located at the `cost-key` Value on the
	42	% Sections. It's assumed that this is a FloatValue, which is a vector;
	43	% the index specifies the location in this vector.
	44	#define cost-key "(Predicate "*-Mutual Info Key cover-section")";
	45	#define cost-index 1;
	46
	47	% If the value at the key+index above is less than this cutoff,
	48	% the Section will not be added to the local dictionary.
	49	% In this example, the raw cost is the MI, and MI of less than
	50	% 4 will be rejected.
	51	#define cost-cutoff 4.0;
	52
	53	% Sections with a missing cost will be assigned this default. To
	54	% ignore sections with a missing cost, set it to some value less
	55	% than `cost-cutoff`.
	56	#define cost-default 4.01;
	57
	58	% The cost used by LG will be a linear rescaling of the raw data above.
	59	% The rescaling is y=mx+b where m==`cost-scale` and b==`cost-offset`
	60	% and x== the value fished out of the vector above.
	61	%
	62	% The scale factor is negative, so as to flip the sign on the costs.
	63	% In the demo dictionary, the costs are provided by the MI, which is
	64	% "better", the more positive it is. The LG costs, however, are
	65	% "better" when they are smaller (less positive). Thus, a sign-flip
	66	% is called for.
	67	#define cost-scale -0.25;
	68	#define cost-offset 3.0;
	69
	70	% Disjuncts with a cost larger than this will not be used during
	71	% parsing. This can be over-ridden with the !cost-max parser option.
	72	% This applies both to the available disjuncts, and the ones created
	73	% dynamically, from pairs.
	74	%
	75	% A disjunct can be supplemented with N=`extra-pairs` pairs. Each pair
	76	% can have a cost of at most 1.0. So it's reasonable to accept a max
	77	% disjunct cost of 3+2=5
	78	#define max-disjunct-cost 5.0;
	79
	80	% No more than this many disjuncts will be created for a word. If the
	81	% dictionary encodes for more than these, then disjuncts will be
	82	% selected randomly, to not exceed this limit. The selection is applied
	83	% after the above cost-max limit, and after some pre-pruning that avoids
	84	% the selection of disjuncts that cannot possibly be used.
	85	#define max-disjuncts 75000;
	86
	87	% -----------------------
	88	% Pair config.
	89	%
	90	% Novel sentences containing rarely-seen words might not be parsable,
	91	% even when the sections on them are decorated with extra connectors.
	92	% In this case, fall back to MST-style parsing, and create disjuncts
	93	% consisting of connectors obtained entirely from word-pairs.
	94	%
	95	% Allow disjuncts with up to two word-pair connectors.
	96	#define pair-disjuncts 2;
	97
	98	% Location where pair MI values are stored.
	99	#define pair-predicate "(BondNode "ANY")";
	100	#define pair-key "(Predicate "*-Mutual Info Key-*")";
	101	#define pair-index 1;
	102
	103	% For small dictionaries, an MI of zero or more should be allowed, as
	104	% otherwise there are just not enough pairs, and the ANY link starts
	105	% getting used. For larger dictionaries, an MI of 4 or larger makes
	106	% sense.
	107	#define pair-cutoff 0.0;
	108
	109	% If there's no MI, just reject it. (Negative MI's are bad.)
	110	#define pair-default -10;
	111
	112	% Map the MI interval [0,4] to [1,0]. Thus, any MI of more than 4
	113	% gets a negative cost and encourages loop formation. Links with an
	114	% MI of less than 4 will get used, to "plug the hole", if there's
	115	% nothing better.
	116	#define pair-scale -0.25;
	117	#define pair-offset 1.0;
	118
	119	% Keep in mind that the parser ranks parses from lowest to highest cost.
	120	% If word-pair links have a negative cost, the parser is incentivized to
	121	% add as many of these as possible, while still resulting in a planar
	122	% graph with many loops. Viz, "Maximal Planar Graphs" (MPG). Conversely,
	123	% if word-pair links have a positive cost, Minimal Spanning Trees (MST)
	124	% will be created (minimizing the total cost.)
	125
	126	% Enable supplementation of pure pair-only disjuncts with "ANY" links.
	127	#define pair-with-any 1;
	128
	129	% Default cost for `ANY` link types. The `ANY` link type is meant to
	130	% provide a desperate, last-chance opportunity to link to a word that
	131	% cannot otherwise link with disjuncts or word-pairs. It is given a
	132	% high cost, so that it is not used when other links are available.
	133	#define any-default 2.6;
	134
	135	% Enable expressions that consist entirely of "ANY" link-types.
	136	#define any-disjuncts 1;
	137
	138	% Enable the automatic generation of <UNKNOWN-WORD>. It will be
	139	% automatically added to the dictionary, with multi-ANY connectors
	140	% on it. The ANY connectors will be used, irresepctive of the other
	141	% `any` setting above.
	142	#define enable-unknown-word 1;
	143
	144	% -----------------------
	145	% Bogus entry. Cannot be empty.
	146	foo: UNITS+;

opencog/lang-mst/run.sh +22 -0

…	…	@@ -0,0 +1,22 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	# ./stop.sh
	6
	7	MST_CONTAINER=mst-counter
	8
	9	TAINER=`docker ps |grep $MST_CONTAINER |cut -f1 -d" "`
	10	if test x"$TAINER" != x; then
	11	echo "Container $MST_CONTAINER already running! Attaching to it..."
	12	# docker stop -t 1 $TAINER
	13	docker exec -it $MST_CONTAINER /bin/bash
	14	else
	15	STAINER=`docker ps -a |grep $MST_CONTAINER |cut -f1 -d" "`
	16	if test x"$STAINER" != x; then
	17	echo "Container $MST_CONTAINER already exists! Starting it..."
	18	else
	19	docker create --name $MST_CONTAINER -p 17003:17003 -it opencog/lang-mst
	20	fi
	21	docker start -i $MST_CONTAINER
	22	fi

opencog/lang-mst/scripts/count-mst-done.sh +23 -0

…	…	@@ -0,0 +1,23 @@
	1	#! /bin/bash
	2	#
	3	# count-mst-done.sh
	4	#
	5	# Wait until MST counting and marginals computation is done,
	6	# and then stop the docker container.
	7	#
	8	# -----------
	9
	10	sleep 60
	11
	12	# Wait for evidence that marginals have been computed.
	13	while [[ ! -f /tmp/mst-marginals-done ]] ; do
	14	sleep 60
	15	done
	16
	17	# Shut down the tmux session.
	18	tmux kill-session
	19
	20	# Stop the main entry point. We would like to do `kill -9 1` but
	21	# docker does not allow PID 1 to be killed. But PID 1 is just
	22	# running /bin/sh bash so once bash exits, then so will PID 1.
	23	pkill -9 bash

opencog/lang-mst/scripts/count-mst.sh +37 -0

…	…	@@ -0,0 +1,37 @@
	1	#! /bin/bash
	2	#
	3	# count-mst.sh
	4	#
	5	# Fully-automated MST counting, specialized for the current
	6	# Docker setup.
	7	# -----------------
	8
	9	# Fix up ownership of the data files
	10	sudo chown -R opencog:opencog text
	11	sudo chown -R opencog:opencog data
	12
	13	# Everything we need has already been set up in run-1.
	14	# Leave it as-is, in case the user wants to experiment there.
	15	# Do the actual MST counting in run-3.
	16	# Avoid confusion by removing the config for earlier and later stages.
	17	cd ~/experiments/
	18	cp -pr run-1 run-3
	19	cd run-3
	20	rm -f 2-pair-conf.sh 4-gram-conf.sh
	21
	22	# Use the default configuration.
	23	source 0-pipeline.sh
	24	source 3-mpg-conf.sh
	25
	26	# Remove scripts for earlier and later stages (avoid confusion)
	27	cd run
	28	rm -rf 2-word-pairs 4-gram-class
	29
	30	# Remove semaphore, just in case.
	31	rm -f /tmp/mst-marginals-done
	32
	33	# Run the MST counting pipeline in byobu.
	34	cd 3-mst-parsing
	35	./run-all-mst.sh
	36
	37	echo "Done MST counting. Good bye!"

opencog/lang-pairs/Dockerfile +23 -0

…	…	@@ -0,0 +1,23 @@
	1	#
	2	# Container for word-pair counting; both demo and fully-automated.
	3	#
	4	FROM opencog/learn:latest
	5
	6	USER opencog
	7	WORKDIR /home/opencog
	8
	9	# Install a very simple pair visualizer.
	10	RUN mkdir src && cd src && git clone https://github.com/opencog/cogprotolab.git
	11	RUN sudo chown opencog:opencog /var/www/html/
	12	RUN sudo cp -pr src/cogprotolab/vis-word-pairs/* /var/www/html/
	13
	14	# Set up the basic working directories
	15	RUN ./setup-for-experiments.sh
	16
	17	# Copy in the fully-automated pair-counter.
	18	COPY --chown=opencog:opencog /scripts/ .
	19	COPY --chown=opencog:opencog /demo-dict-pair/ demo-dict-pair
	20
	21	CMD /bin/bash
	22
	23	ONBUILD USER root

opencog/lang-pairs/README.md +262 -0

…	…	@@ -0,0 +1,262 @@
	1	lang-pairs
	2	----------
	3	This container provides a basic demo, together with a fully automated
	4	script, for counting of word-pairs in text. It consist of three parts:
	5
	6	* A tutorial demonstrating word-pair counting using the
	7	[language learning](https://github.com/opencog/learn/) pipeline.
	8	* A script that fully automates the processing of text for pair-counting.
	9	* A simple web-based visualizer for the resulting dataset.
	10
	11	Nearby word-pairs are sampled from input text, and a count is maintained
	12	for how often they are seen. These counts are recorded in the AtomSpace,
	13	and written to a persistent database: the RocksB `StorageNode`. This
	14	database can be reopened at a later time, without having to redo
	15	counting.
	16
	17	Given observed frequencies of word-pairs, the mutual information
	18	between them can be calculated. See Wikipedia,
	19	[pointwise mutual information](https://en.wikipedia.org/wiki/Pointwise_mutual_information).
	20	After counting, batch scripts compute this (see instructions below).
	21	After these are computed, an Apache webserver is started inside this
	22	container. Using a web browser to access it will bring up a simple
	23	word-pair visualizer.
	24
	25	The demo can take half-a-day or several days (or longer) to run,
	26	depending on the quantity of input text. It will need 4 to 12GB of RAM,
	27	again, depending on the text.
	28
	29	This demos only the very first step of a much longer and more complicated
	30	learning system. That system aims to extract syntactic and semantic
	31	structure from arbitrary data (not just text). The second step can be
	32	found in the [`lang-mst`](../lang-mst) directory. Docker demos for
	33	later stages will be set up "any day now" (The expression "any day now"
	34	is a sarcastic remark, popular in Texas, meaning "not soon".
	35	The learning system is a work in progress, and is unstable.)
	36
	37	A beginning user should run the demo "manually" the first time, in order
	38	to get familiar with the basic steps. Instructions for a fully automated
	39	script are at the very end of this file.
	40
	41	Basic Setup
	42	-----------
	43	0. Install docker, if you have not already done so:
	44	`sudo apt install docker.io`
	45	1. Run `../docker-build.sh -a` and `../docker-build.sh -l` to build
	46	the pre-requisite containers.
	47	2. Create this Docker image:
	48	```
	49	docker build -t opencog/lang-pairs .
	50	```
	51	3. Create a container (an instance of the image):
	52	`docker create --name pair-counter -p 8080:80 -p 17002:17002 -p 18082:18082 -it opencog/lang-pairs`
	53	Note: the `-p` flag is `external_port:internal_port`. The first flag
	54	exposes the internal webserver on `localhost:8080` and the second
	55	flag exposes the CogServer to the outside world. The third exposes
	56	the CogServer WebSockets port; usefule for visualization.
	57
	58	4. Copy your input text files into the container, using the
	59	`docker container cp` command. The default configuration expects
	60	these files in the `text/input-pages` directory. For example:
	61	```
	62	docker container cp some-book.txt pair-counter:/home/opencog/text/input-pages
	63	```
	64	You can place multiple files into arbitrary subdirectories; all
	65	files and subdirectories will be explored during counting.
	66	For more info about docker copy, see the
	67	[docker container docs](https://docs.docker.com/engine/reference/commandline/container/).
	68
	69	Configuration
	70	-------------
	71	Get familiar with the general outlines of the configuration files
	72	and scripting system.
	73
	74	1. Start the container: `docker start -i pair-counter`
	75	This will drop you into a shell prompt inside the container.
	76	2. Change ownership of the input text files. Run
	77	`sudo chown -R opencog:opencog text` ***IMPORTANT! Don't forget to do this!***
	78	3. `cd ~/experiments/run-1`
	79	4. Review the config files; change if desired. The defaults are fine
	80	for an initial run. Later on, you can copy them to
	81	`experiments/run-2`, `experiments/run-3` and so on, for modified
	82	extended runs.
	83	5. `source 0-pipeline.sh` # Load environment variables from config file.
	84	6. `run/run-tmux.sh` # Set up multiple byobu terminals.
	85	7. Review the [language-learning project](https://github.com/opencog/learn)
	86	README's and follow instructions there ...
	87
	88	OK, so those instructions are overwhelming. The next section provides
	89	a simplified digest, just enough to get the basics for word-pairs
	90	running.
	91
	92	Manual Counting
	93	---------------
	94	First-time users should follow these instructions.
	95
	96	A. Go to the `cogsrv` tab, and run `run/2-word-pairs/run-cogserver.sh`
	97
	98	B. Go to the `telnet` tab, and run `rlwrap telnet localhost 17002`
	99	Then run `help` in the cogserver shell and get oriented.
	100	Then run `top` in the cogserver shell, to see the stats.
	101
	102	C. Go to the `submit` tab, and run `run/2-word-pairs/pair-submit.sh`
	103
	104	D. Go to the `cogsrv` tab, and poke around in the AtomSpace, as
	105	desired. It will take a while for processing to complete. So,
	106	for example, as you wait, you can look at the Atoms piling up:
	107	```
	108	(cog-report-counts)
	109	```
	110	E. Go to the `telnet` tab, and wait until the telnet stats clear ...
	111	This may take hours or days, depending on the dataset.
	112	Basically, the system is busy chewing on the data files, and the
	113	stats report remains busy until that work is done.
	114	Each file in `~/text/input-pages` is moved to ~/text/pair-counted`
	115	after it has been submitted. Thus, you can track progress by comparing
	116	`find ~/text/input-pages/ |wc` to `find ~/text/pair-counted/ |wc`.
	117
	118	XXX below is auto done already??
	119
	120	F. Go to the `cogsrv` tab, and perform batch MI calculations.
	121	This may take minutes or hours, depending on the dataset.
	122	It is best not to start these until counting is done.
	123	```
	124	(define ala (make-any-link-api))
	125	(define aca (add-count-api ala))
	126	(define asa (add-pair-stars aca))
	127	(batch-all-pair-mi asa)
	128	(print-matrix-summary-report asa)
	129	```
	130
	131	G. That's it! The word-pair dataset is now complete. It can now be
	132	browsed in two different ways: with a web browser, looking at the
	133	pairs directly, or with the Link Grammar parser, which will use
	134	it to create MST parses.
	135
	136	Web Demo
	137	--------
	138	The web demo allows the word-pair dataset to be browsed "directly",
	139	using a web graph visualization package.
	140
	141	1. Go to the `cntl` tab and run `sudo service apache2 start`
	142
	143	2. Go to the `cogsrv` tab, load the browser navigation support:
	144	```
	145	(load "/home/opencog/src/cogprotolab/run-word-pairs/scm/navigate.scm")
	146	(define pair-stars asa)
	147	(define pair-freq (add-pair-freq-api pair-stars))
	148	(define (pair-score EDGE) (pair-freq 'pair-fmi EDGE))
	149	(define pair-nav
	150	(make-nav pair-stars 'right-duals 'left-duals pair-score 10))
	151	```
	152
	153	3. Verify that the above is not insane. The following should print
	154	plausible results:
	155	```
	156	(pair-freq 'left-wild-fmi (Word "the"))
	157	(pair-nav 'forward (Word "the"))
	158	(pair-nav 'edge-score (Word "the") (Word "door"))
	159	```
	160
	161	4. On your local machine, connect to the webserver, using the port 8080
	162	specified on `docker create` line above:
	163	```
	164	http://localhost:8080/
	165	```
	166	or
	167	```
	168	http://172.17.0.1:8080/
	169	```
	170	where `172.17.0.1` is the Docker container IP address; will vary,
	171	in general.
	172
	173	Link Parser Demo
	174	----------------
	175	The word-pair database can be used by the Link Grammar parser to create
	176	Minimum Spanning Tree (MST) parses. These are parses where the links
	177	between words correspond to word-pairs that have appeared in the database.
	178	The parsing is done so as to minimize the total cost; equivalently, to
	179	maximize the total MI of all word-pairs used in the parse. (By design,
	180	the LG parser always minimizes costs; thus, the LG dictionary config file
	181	maps MI values to minus costs.)
	182
	183	1. The RocksDB database can only be used by one user at a time, and so,
	184	because the CogServer is already using the database, a copy must be
	185	made. Go to the `spare` tab, and
	186	```
	187	cd ~/data
	188	cp -pr word-pairs.rdb word-pairs-copy.rdb
	189	```
	190
	191	2. Start the Link Grammar parser, using the demo dictionary provided.
	192	This dictionary hard-codes the `word-pairs-copy.rdb` file location
	193	in it.
	194	```
	195	link-parser demo-dict-pair
	196	```
	197
	198	3. Type in any sentence you wish. If the words appear in the dataset,
	199	the sentence will parse. The parse is only as accurate as MST parses
	200	can be: in general, they are "OK", but not great.
	201
	202
	203	Development Tips
	204	----------------
	205	After pair-counting is completed, the easiest way to restart the
	206	CogServer is to invoke `run-common/cogserver-mst.scm`. This loads
	207	all word-pairs into the AtomSpace, and then provides a guile prompt
	208	to poke around in (It does NOT do any MST processing beyond loading
	209	the pairs.)
	210
	211
	212	Semi-automated Counting
	213	-----------------------
	214	Most of the above has been condensed into a single script.
	215
	216	1. Start the container: `docker start -i pair-counter`
	217	This will drop you into a shell prompt inside the container.
	218	2. (Optional) Review the config files; change if desired. The defaults
	219	are fine.
	220	3. Run the `/home/opencog/count-pairs.sh` shell script. This will start
	221	the same tmux/byobu system as the manual instructions above, except
	222	that this time, all the various servers will be started
	223	automatically. Progress can be monitored as described above.
	224	4. The shutdown is currently NOT automated. This allows you to review
	225	results, before shutting everything down. If satisfied, close the
	226	`tmux` session with
	227	```
	228	tmux kill-session
	229	```
	230	5. The word-pair visualizer setup is *not* automated. If you also want
	231	that, you'll have the follow the last part of the manual instructions
	232	above.
	233	6. The next step is MST counting; this is handled in the `lang-mst`
	234	docker image. You will need to save the database of results, in the
	235	`data/word-pairs.rdb` directory. Copy it out of the container:
	236	```
	237	docker container cp pair-counter:/home/opencog/data/word_pairs.rdb /your/favorite/place/for/data/
	238	```
	239	This copy can be done before or after shutting down the container.
	240
	241	7. (Optional) During counting, the input text corpus was copied, file by
	242	file, to `text/pair-counted`, as each file was submitted for
	243	counting. These will be needed for the next stage, and you can
	244	minimize confusion by just saving this, as well.
	245	```
	246	docker container cp pair-counter:/home/opencog/text/pair-counted /your/favorite/place/for/text/
	247	```
	248
	249	Fully-automated Counting
	250	------------------------
	251	This can be fully automated. It assumes everything above is configured
	252	and is working.
	253
	254	1. Place a copy of the input text corpus in the `input-pages` directory.
	255	2. Run `autorun.sh`
	256	3. Wait until done.
	257
	258	To process additional text in an existing container, place the new text
	259	into the `input-pages` directory, and run `autorun.sh -u`. Be sure to
	260	remove the earlier text, as otherwise it will be reprocessed a second time.
	261
	262	----

opencog/lang-pairs/autorun.sh +86 -0

…	…	@@ -0,0 +1,86 @@
	1	#! /bin/bash
	2	#
	3	# autorun.sh
	4	#
	5	# Fully-automated word-pair counting. Creates a new container, if none
	6	# exists. Copies text data into it, performs pair-counting, computes
	7	# marginals, and copies out the resulting dataset.
	8	#
	9	# Expects to find a text corpus in the `input-pages` directory.
	10	#
	11	# If used with the `-u` flag, then an existing container will be updated
	12	# with additional counting. Useful for splitting up large word-pair
	13	# counting runs into several stages.
	14	#
	15	# -----------------
	16
	17	# INPUT_DIR must match `run-config/2-pair-conf.sh`
	18	INPUT_DIR=input-pages
	19	TEXT_DIR=text
	20	DATA_DIR=data
	21
	22	PAIR_CONTAINER=pair-counter-auto
	23	UPDATE=$1
	24
	25	if [[ -z "$(ls $INPUT_DIR)" ]]; then
	26	echo "Error: You forgot to put an input corpus into the $INPUT_DIR directory!"
	27	exit 1
	28	fi
	29
	30	# Avoid trashing current work.
	31	TAINER=`docker ps |grep $PAIR_CONTAINER |cut -f1 -d" "`
	32	if test x"$TAINER" != x; then
	33	echo "Container $PAIR_CONTAINER is already running!"
	34	echo "Running containers cannot be updated."
	35	echo "To stop the existing container, do this:"
	36	echo " docker stop -t 1 $PAIR_CONTAINER"
	37	echo "If you want a fresh container, then you must also do this:"
	38	echo " docker rm $PAIR_CONTAINER"
	39	exit 1
	40	fi
	41
	42	TAINER=`docker ps -a |grep $PAIR_CONTAINER |cut -f1 -d" "`
	43	if test x"$TAINER" == x; then
	44	# Start Fresh
	45	echo "Creating container $PAIR_CONTAINER"
	46	docker create --name $PAIR_CONTAINER -it opencog/lang-pairs
	47	elif test x"$UPDATE" == x-u; then
	48	echo "Re-using existing container $PAIR_CONTAINER"
	49	else
	50	echo "The container $PAIR_CONTAINER already exists!"
	51	echo "If you want to update it with additional pair data,"
	52	echo "then run this script with the -u flag."
	53	echo "If you want to start fresh, then remove it, like so:"
	54	echo " docker rm $PAIR_CONTAINER"
	55	exit 1
	56	fi
	57
	58	date
	59
	60	# Copy $INPUT_DIR as a whole. Note that `run-config/2-pair-conf.sh`
	61	# expects input located at `input-pages` and `run-config/0-pipeline.sh`
	62	# sets the basedir to `/home/opencog/text/`
	63	docker container cp $INPUT_DIR $PAIR_CONTAINER:/home/opencog/text/
	64
	65	echo "Starting container $PAIR_CONTAINER"
	66	docker start $PAIR_CONTAINER
	67	docker exec -u 0 $PAIR_CONTAINER chown -R opencog:opencog /home/opencog/text
	68	docker exec -d $PAIR_CONTAINER /home/opencog/count-pairs.sh
	69	sleep 10
	70
	71	echo "Waiting for pair counting to finish in container $PAIR_CONTAINER"
	72	echo "Caution: this may take hours, days or weeks!"
	73	echo "If you're nervous and can't stand the wait, try this:"
	74	echo " docker exec -it $PAIR_CONTAINER /bin/bash"
	75	echo " tmux attach"
	76	echo "and then prowl around in tmux with F3 and F4"
	77
	78	docker exec $PAIR_CONTAINER /home/opencog/count-pairs-done.sh
	79
	80	echo "Done pair counting in container $PAIR_CONTAINER"
	81
	82	echo "Copying word-pairs dataset to $DATA_DIR"
	83	docker container cp $PAIR_CONTAINER:/home/opencog/text/. $TEXT_DIR
	84	docker container cp $PAIR_CONTAINER:/home/opencog/data/. $DATA_DIR
	85	echo "Done!"
	86	date

opencog/lang-pairs/build.sh +6 -0

…	…	@@ -0,0 +1,6 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for opencog/lang-pairs
	4	#
	5	docker build -t opencog/lang-pairs .
	6	# docker build --no-cache -t opencog/lang-pairs .

opencog/lang-pairs/demo-dict-pair/4.0.affix +9 -0

…	…	@@ -0,0 +1,9 @@
	1
	2	")" "}" "]" ">" » 〉 ） 〕 》 】 ］ 』 」 "’’" "’" '' '
	3	"%" "," "." 。 ":" ";" "?" "!" ‽ ؟ ？ ！ … ... "”" "–" "‐" 、 ～
	4	¢ ₵ ™ ℠ : RPUNC+;
	5
	6	"(" "{" "[" "<" « 〈 （ 〔 《 【 ［ 『 「 `` „ “ ‘ '' ' … ...
	7	¿ ¡ "$"
	8	£ ₤ € ¤ ₳ ฿ ₡ ₢ ₠ ₫ ৳ ƒ ₣ ₲ ₴ ₭ ₺ ℳ ₥ ₦ ₧ ₱ ₰ ₹ ₨ ₪ ﷼ ₸ ₮ ₩ ¥ ៛ 호점
	9	† †† ‡ § ¶ © ® ℗ № "#": LPUNC+;

opencog/lang-pairs/demo-dict-pair/README.md +16 -0

…	…	@@ -0,0 +1,16 @@
	1	Demo Atomese word-pair dictionary
	2	---------------------------------
	3	This is an example configuration for an AtomSpace-backed dictionary,
	4	configured for parsing using word-pair MI data. The resulting parses
	5	are Maximum Planar Graph parses: parses that draw links between words
	6	in such a way as to maximize the MI between word-pairs.
	7
	8	For general info about Link Grammar dictionaries running out of the
	9	AtomSpace, consult the Link Grammar documentation.
	10
	11	* The `4.0.affix` file specifies punctuation that will be automatically
	12	split off of words.
	13
	14	* The `storage.dict` file specifies assorted configuration data,
	15	including the location of MI data, and how to scale it to obtain
	16	LG-style "costs".

opencog/lang-pairs/demo-dict-pair/storage.dict +103 -0

…	…	@@ -0,0 +1,103 @@
	1	%
	2	% demo-dict-pair -- Demo dictionary for MST/MPG parsing.
	3	%
	4	% Configuration file for an Atomspace-based dictionary. It will use
	5	% word-pair data in the AtomSpace to perform MST/MPG parsing. If
	6	% word pairs are missing to complete a parse, then random word-pairs
	7	% will be used to fill in.
	8	%
	9	% All config values can be left as-is; nothing here needs tweaking.
	10	%
	11	% See the `demo-atomese/storage.dict` file in the main Link Grammar
	12	% distribution for detailed documentation.
	13
	14	% -----------------------
	15	% Boilerplate: The dictionary is for English, the English locale
	16	% should be used, and a version number.
	17
	18	#define dictionary-lang en;
	19	#define dictionary-locale en_US.UTF-8;
	20	#define dictionary-version-number 5.12.4;
	21
	22	% Use a copy of the database; we assume the CogServer is running and
	23	% is using the "main" version. Use MonoStorage instead of RocksSotrage,
	24	% its simpler, maybe faster. If this throws "Unsupported DB version '2'"
	25	% then comment this out, and use Rocks below.
	26	#define storage-node "(MonoStorage "monospace:///home/opencog/data/word-pairs-copy.rdb")";
	27	% #define storage-node "(RocksStorage "rocks:///home/opencog/data/word-pairs-copy.rdb")";
	28
	29	% -----------------------
	30	% Disable use of sections (disjuncts).
	31	#define enable-sections 0;
	32
	33	% -----------------------
	34	% Pair config.
	35	%
	36	% Create expressions that consist entirely of word-pair relationships.
	37	% Default of up to four connectors.
	38	#define pair-disjuncts 4;
	39
	40	% Location where MI values are stored.
	41	#define pair-predicate "(BondNode "ANY")";
	42	#define pair-key "(Predicate "*-Mutual Info Key-*")";
	43	#define pair-index 1;
	44
	45	% For small dictionaries, and MI or zero or more is needed, as
	46	% otherwise there are just not enough pairs, and the ANY link starts
	47	% getting uses. For larger dictionaries, an MI of 4 or larger makes
	48	% sense.
	49	#define pair-cutoff 0.0;
	50
	51	% If there's no MI, just reject it.
	52	#define pair-default -10;
	53
	54	% Map the MI interval [0,4] to [1,0]. Thus, any MI of more than 4
	55	% gets a negative cost and encourages loop formation. Links with an
	56	% MI of less than 4 will get used, to "plug the hole", if there's
	57	% nothing better.
	58	#define pair-scale -0.25;
	59	#define pair-offset 1.0;
	60
	61	% Keep in mind that the parser ranks parses from lowest to highest cost.
	62	% If word-pair links have a negative cost, the parser is incentivized to
	63	% add as many of these as possible, while still resulting in a planar
	64	% graph with many loops. Viz, "Maximal Planar Graphs" (MPG). Conversely,
	65	% if word-pair links have a positive cost, Minimal Spanning Trees (MST)
	66	% will be created (minimizing the total cost.)
	67
	68	% A disjunct can consist of 4 pairs. Each pair can have a cost of at
	69	% most 1.0. So we have to accept a max disjunct cost of at least 4.
	70	#define max-disjunct-cost 4.5;
	71
	72	% Supplement the above with additional connectors of type "ANY".
	73	% This has no effect, if `pair-disjuncts` is set to zero.
	74	#define pair-with-any 1;
	75
	76	% Default cost for `ANY` link types. The `ANY` link type is meant to
	77	% provide a desperate, last-chance opportunity to link to a word that
	78	% does not appear in any disjuncts or word-pairs. Thus, its given some
	79	% high cost, so that it is not used when other links are available.
	80	%
	81	% Setting it to 1.6 allows two of them to be used to form a disjjunct.
	82	% If three are used, then this gets past the max-disjunct-cost.
	83	#define any-default 1.6;
	84
	85	% Create expressions that consist entirely of "ANY" link-types.
	86	#define any-disjuncts 0;
	87
	88	% Enable the automatic generation of <UNKNOWN-WORD>. It will be
	89	% automatically added to the dictionary, with multi-ANY connectors
	90	% on it. The ANY connectors will be used, irresepctive of the other
	91	% `any` setting above.
	92	#define enable-unknown-word 1;
	93
	94	% No more than this many disjuncts will be created for a word. If the
	95	% dictionary encodes for more than these, then disjuncts will be
	96	% selected randomly, to not exceed this limit. The selection is applied
	97	% after the above cost-max limit, and after some pre-pruning that avoids
	98	% the selection of disjuncts that cannot possibly be used.
	99	#define max-disjuncts 75000;
	100
	101	% -----------------------
	102	% Bogus entry. Cannot be empty.
	103	foo: UNITS+;

opencog/lang-pairs/run.sh +11 -0

…	…	@@ -0,0 +1,11 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	# ./stop.sh
	6
	7	# The -p flag is external_port:internal_port
	8	docker create --name pair-counter -p 8080:80 -p 17002:17002 -it opencog/lang-pairs
	9	docker start -i pair-counter
	10
	11	clear

opencog/lang-pairs/scripts/count-pairs-done.sh +23 -0

…	…	@@ -0,0 +1,23 @@
	1	#! /bin/bash
	2	#
	3	# count-pairs-done.sh
	4	#
	5	# Wait until pair-counting and marginals computation is done,
	6	# and then stop the docker container.
	7	#
	8	# -----------
	9
	10	sleep 60
	11
	12	# Wait for evidence that marginals have been computed.
	13	while [[ ! -f /tmp/pair-marginals-done ]] ; do
	14	sleep 60
	15	done
	16
	17	# Shut down the tmux session.
	18	tmux kill-session
	19
	20	# Stop the main entry point. We would like to do `kill -9 1` but
	21	# docker does not allow PID 1 to be killed. But PID 1 is just
	22	# running /bin/sh bash so once bash exits, then so will PID 1.
	23	pkill -9 bash

opencog/lang-pairs/scripts/count-pairs.sh +33 -0

…	…	@@ -0,0 +1,33 @@
	1	#! /bin/bash
	2	#
	3	# count-pairs.sh
	4	#
	5	# Fully-automated word-pair counting, specialized for the current
	6	# Docker setup.
	7	# -----------------
	8
	9	# Everything we need has been copied into run-1.
	10	# Leave it as is, for the user to experiment in.
	11	# Do the actual work in run-2.
	12	# Avoid confusion by removing the config for the later stages.
	13	cd ~/experiments/
	14	cp -pr run-1 run-2
	15	cd run-2
	16	rm -f 3-mpg-conf.sh 4-gram-conf.sh
	17
	18	# Use the default configuration.
	19	source 0-pipeline.sh
	20	source 2-pair-conf.sh
	21
	22	# Remove scripts for later stages (avoid confusion)
	23	cd run
	24	rm -rf 3-mst-parsing 4-gram-class
	25
	26	# Remove semaphore, just in case.
	27	rm -f /tmp/pair-marginals-done
	28
	29	# Run the pair-counting pipeline in byobu.
	30	cd 2-word-pairs
	31	./run-all.sh
	32
	33	echo "Done word-pair counting. Good bye!"

opencog/learn/Dockerfile +30 -0

…	…	@@ -0,0 +1,30 @@
	1	#
	2	# Container with core learning repos. No data.
	3	#
	4	ARG OS_VERSION=latest
	5	ARG BASE_IMAGE=opencog/atomspace:${OS_VERSION}
	6	FROM ${BASE_IMAGE}
	7
	8	# Install everything learn-related.
	9	RUN /tmp/octool -z && ccache -C
	10
	11	# Uncomment to instal GPU stuff
	12	# RUN /tmp/octool -u && ccache -C
	13
	14	# uncomment to install vision stuff
	15	# RUN /tmp/octool -n && ccache -C
	16
	17	USER opencog
	18	WORKDIR /home/opencog
	19
	20	# Compile the scheme files as the user.
	21	RUN guile -c "(use-modules (opencog matrix) (opencog lg) (opencog learn))"
	22
	23	# Place a basic recommended configuration where the user can find it.
	24	COPY /scripts/ /home/opencog
	25	RUN sudo chown -R opencog:opencog setup-for-experiments.sh && \
	26	chmod ugo+x setup-for-experiments.sh
	27
	28	CMD /bin/bash
	29
	30	ONBUILD USER root

opencog/learn/README.md +27 -0

…	…	@@ -0,0 +1,27 @@
	1	opencog/learn
	2	-------------
	3	This docker image contains all of the tools needed for the "learn"
	4	subsystem, including the nlp subsystem.
	5
	6	## Building
	7
	8	There are several ways to build:
	9	* Run `../docker-build.sh -a` and then `../docker-build.sh -l`
	10	where `docker-build.sh` is the shell script in the parent directory.
	11
	12	* Run the `./build.sh` file in this directory. You need to have
	13	built the base AtomSpace image (in the `../atomspace` directory) first.
	14
	15	To get fresh containers after github sources have changed, you will
	16	need to add the `--no-cache` flag to the `docker build` command.
	17
	18	## Running
	19
	20	You can start the bare container by saying `./run.sh` in this directory.
	21	However, it might be more interesting to try the word-pair-counting
	22	experiment in the `../lang-pairs` directory.
	23
	24	If you do run this container, then the first thing you'll want to do
	25	after starting it is to run the `setup-for-experiments.sh` shell script.
	26	This will initialize a reasonable working environment for doing learning
	27	experiments.

opencog/learn/build.sh +6 -0

…	…	@@ -0,0 +1,6 @@
	1	#! /bin/bash
	2	#
	3	# Build the docker image for opencog/learn
	4	#
	5	docker build -t opencog/learn .
	6	# docker build --no-cache -t opencog/learn .

opencog/learn/run.sh +9 -0

…	…	@@ -0,0 +1,9 @@
	1	#! /bin/bash
	2	#
	3	# Run the docker container. Stop any previously running copies.
	4	#
	5	./stop.sh
	6
	7	docker run --name="base-learn" -it opencog/learn
	8
	9	clear

opencog/learn/scripts/setup-for-experiments.sh +14 -0

…	…	@@ -0,0 +1,14 @@
	1	#! /bin/bash
	2	#
	3	# setup-for-experiments.sh
	4	#
	5	# Create a reasonable working environment for running experiments.
	6	# This provides a suggested configuration in which language-learning
	7	# experiments can be run. Just run this file to do that setup.
	8
	9	mkdir text && mkdir text/input-pages
	10	mkdir data
	11	mkdir experiments && mkdir experiments/run-1
	12	cp --preserve=mode,timestamps -r /usr/local/share/opencog/learn/run-config/*.sh experiments/run-1
	13	cp --preserve=mode,timestamps -r /usr/local/share/opencog/learn/run-common experiments/run-common
	14	cp --preserve=mode,timestamps -r /usr/local/share/opencog/learn/run experiments/run-1

opencog/learn/stop.sh +14 -0

…	…	@@ -0,0 +1,14 @@
	1	#! /bin/bash
	2	#
	3	# Stop any running containers previously started with 'run.sh'
	4	#
	5	TAINER=`docker ps |grep base-learn |cut -f1 -d" "`
	6	if test x"$TAINER" != x; then
	7	echo -n 'Stopping leftover container... '
	8	docker stop -t 1 $TAINER
	9	fi
	10	TAINER=`docker ps -a |grep base-learn`
	11	if test x"$TAINER" != x; then
	12	echo -n 'Removing... '
	13	docker rm base-learn
	14	fi