README.md

CoreSense4Home

Installation

See Software setup

Usage

Navigation

ros2 launch robocup_bringup navigation.launch.py

Launch current carry my luggage implementation

First kill move_group node inside tiago robot. Then in separate terminals launch:

ros2 launch robocup_bringup navigation_follow.launch.py rviz:=True

ros2 launch attention_system attention.launch.py

ros2 launch robocup_bringup carry_my_luggage_dependencies.launch.py

ros2 launch whisper_bringup whisper.launch.py

Finally:

ros2 run bt_test carry_my_luggage_test

Follow navigation with small objects

ros2 launch robocup_bringup navigation_follow.launch.py

Demo moveit

inside tiago, first kill move_group and then:

ros2 launch tiago_moveit_config move_group.launch.py

Launch the percetion system with the remaps for the tiago, and activate the object detection node

ros2 launch perception_system perception3d.launch.py

launch the speaking system:

ros2 run audio_common tts_node
ros2 run audio_common audio_player_node
ros2 launch whisper_bringup whisper.launch.py

launch the manipulation system:

ros2 launch action_server server.launch.py

execute the test:

ros2 run bt_test pick_demo_test

Demo Dialog

ros2 launch robocup_bringup dialog.launch.py

Execute the test:

ros2 run bt_test ask_test