CCR Scale Study 1-3 Data Analysis

Study 1

• nFactors.R
  • Finds the number of factors
• parallelAnalysis.R
  • Finds the number of factors
• factorAnalysis.R
  • Runs exploratory factor analysis using the specified number of factors
• cronbachAlpha.R
• omega.R
  • Calculates McDonald's omega

Study 2

• CFA.R
  • Runs confirmatory factor analysis
  • If you are running it with different items in the factors, change the section called 'model'
  • You will need to change the headings of the columns in the data you import to match the names used in the lists of items (they cannot have spaces) or change the names of the items in R to match the data.
• CorrelationCoefficient.R
• NagelkerkeRsquared.R
• cronbachAlpha.R
• omega.R
  • Calculates McDonald's omega
• ordinalRegression.R

Study 3

• CorrelationCoefficient.R
• study3.Rmd

CCR Scale Study 3 Robot Code

If you have not previously used ROS2 and Misty, or do not have the necessary Python packages, see the prerequisites for software installation instructions.

• personal laptop mac denotes the Wizard of Oz laptop but not in the virtual machine.
• personal laptop virtual machine denotes that same laptop but in the virtual machine.
• slides laptop denotes the lab laptop displaying slides.
• video laptop refers to the laptop connected to a webcam and using Zoom and Cheese.

Experiment Setup

Using the virtual machine

1. Connect the personal laptop mac to the Sebo-Lab-01 wifi network.
2. In the terminal of the personal laptop mac, run python3 -m http.server.
3. Launch the UTM virtual machine. It might take several minutes to load.
4. In the terminal window in the personal laptop virtual machine, run python3 -m http.server
5. Open the MistySubscriber2.py file using your preferred code editor.

Using Misty

Connecting to Misty

1. Turn on Misty using the switch in the back. Misty should be on the Sebo-Lab-01 network.
2. Use the Misty App to find Misty's IP address.
3. Change the misty_ip in MistySubscriber2.py to match.
4. In the MistySubscriber2.py file, change my_ip to be your personal laptop mac's IP address when connected to the Sebo-Lab-01 wifi network. This is the same IP address used for port forwarding.
5. In the virtual machine, in a seperate terminal window from the one doing port forwarding, build the ROS2 workspace (cd ~/ros2_ws then colcon build then source install/setup.bash).

Changing Misty's Voice and Volume

Put Misty's IP address in a new tab in a web browser on the personal laptop mac. Change the voice using the dropdown and change the volume using the slider at the top of the screen. For changing Misty's voice, you might have to play something using the web browser in order to get the voice to actually change.

Running the Study

1. Follow the above instructions for starting the virtual machine and Misty.
2. Connect the slides laptop to the Sebo-Lab-01 wifi.
3. On the personal laptop mac in a seperate terminal window from the one runnin python3 -m http.server, run the socketServer.py file (python3 socketServer.py).
4. On the slides laptop, change the server_ip in socketClient.py (on the Intro Robo L01 it is called socketClient1.py and in the Documents folder) to the personal laptop mac's ip address when connected to the Sebo-Lab-01 wifi.
5. On the slides laptop, run the socketClient.py file using python3 socketClient.py.
6. In the prompt that pops up (->) type the word "address". It should display two lines that both read "Received from server: ADDRESS".
7. In the personal laptop virtual machine, in the SlidesSubscriber.py file, change self.server_ip to be the ip address of the personal laptop mac.
8. In the personal laptop virtual machine in the ros2_ws directory (cd ~/ros2_ws), run colcon build then ros2 launch rapport rapport_launch.py. It will then pop up with the window for controlling Misty and the slides.
9. You can test that things are working by changing the slide using the window in the virtual machine and make sure that the slides laptop prints "Received from server: [number]" in the terminal window with the socketClient.py file running.
10. Click the Blank slide button in the pop window on the personal laptop virtual machine.
11. In a seperate terminal window on the slides laptop from the one that is running socketClient.py, run the display.py file (on the Intro Robo L01 it is called display1.py and in the Documents folder) with python3 display.py. If you need to close the display on the slides laptop and cannot access it from the personal laptop virtual machine, use the hidden button located at the top of the screen slightly to the right of the webcam. The button will turn gray when the mouse is over it. You may need to click this button multiple times.
12. Try changing the slides using the pop up in the personal laptop virtual machine. For each slide, before you show the next one, make sure to click the Blank slide button so that the text does not appear on top of each other.
13. Press the slow head nod button and make sure Misty's head is moving appropriately. You may need to press this button a few times.
14. Connect the video laptop and your phone to a wifi network other than the Sebo-Lab-01 network.
15. Connect the video laptop to a webcam and the USB microphone
16. Start a zoom meeting using your phone, turn off your video, and mute your microphone. You might want to use headphones to hear the audio.
17. Join the zoom meeting on the video laptop and turn off video, mute the volume, but unmute the microphone. Change the microphone in the Zoom meeting to the USB microphone. Change the video in the Zoom meeting to the built in camera (not the webcam).
18. Open Cheese on the video laptop and start recording.
19. Set up the stand alone camera and start recording.
20. Reference the experimenter script for how to run the study.

Shutting down the devices

1. Shut down the slides using the Shut down slides button in the pop up window.
2. Stop all the programs running in terminal windows in the virtual machine and on the slides laptop using control+C.
3. Shut down the virtual machine using the button inside the virtual machine to shut it off, not the button on UTM.
4. Turn off Misty using the switch in the back.
5. Shut down the terminal programs on the personal laptop mac.

Other notes

• The speak button and the unresponsive speech buttons stop and reset the timer, and the slide buttons start the timer.
• If the slides laptop is not responding to anything while displaying slides, turn it off and on twice using the power button.
• If you would like the displaying slides to still be controllable from the user, comment out the win.attributes('-fullscreen',True) line and uncomment the win.geometry("500x500") line (you can change the width and height to better fit the screen).

Prerequisites

The following hardware and software is necessary for running this experiment:

1. Mac laptop
   • Python3 with socket library
     • Download the socketServer.py file (located in the other_devices folder) onto the personal laptop mac
   • UTM Ubuntu 24.04 virtual machine with ROS2 Jazzy, Python3, and port forwarding set up if necessary
     • Have this git repository cloned into the ~/ros2_ws/src directory
   • Misty App
2. Ubuntu laptop
   • Python3 with tkinter, csv, and socket libraries
     • Download the display.py and socketClient.py (located in the other_devices folder) files onto the slides laptop
3. Ubuntu laptop
   • With Zoom and Cheese applications
   • USB webcam and microphone
4. Misty robot
5. Stand alone camera
6. Wifi router
   • In this case, we are using a router called Sebo-Lab-01

Virtual machine installation instructions

Installation Instructions for Ubuntu in a UTM virtual machine for Mac computers with an M1 or M2 chip

Important

In step 2 where it says to download Ubuntu server 22.04-arm64, download 24.04 instead

ROS2 installation instructions

Installation instructions for ROS2 Jazzy. Install the Desktop Install instead of the ROS-Base Install.

Then configure your ROS2 environment using steps 1 and 2.

Instructions for creating a ROS2 workspace:

• First install colcon
• Then create a workspace following the first two steps of this tutorial

You might also want to add your SSH key into the virtual machine or create a personal access token in order to access this github repository.

Python Packages needed in the virtual machine

You can install packages using python3 -m pip install <package name> or apt install python3-<package name>. The packages you might need to install are:

• tkinter
• requests
• socket

If it gives you an error when you try to install them, it likely means the packages are already installed.

Set up port forwarding

To set up port forwarding in UTM, before you launch the virtual machine, first connect to the Sebo-Lab-01 wifi. Then open up the UTM settings of the virtual machine and change network mode to Emulated VLAN. Go to Devices > Network > Port Forwarding. Add a new port forwarding that should be Protocol: TCP, Guest Address: 10.0.2.15, Guest Port: 8000, Host Address: <your computer's ip address>, Host Port: 8000.

To find your <your computer's ip address> on Mac, go to WiFi (assume you are connected to Sebo-Lab-01), go to Details..., and find IP address.

Misty App installation instructions

You can find the app in the app store and install it on your Mac computer.

Using this repository

Clone this repository into the src folder of ros2_ws in the virtual machine.

Locate the Rapport/rapport/other_devices folder in the github and put the socketServer.py file on the personal laptop mac and the socketClient.py and display.py files on the slides laptop.