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Installation

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Usage

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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

Acknowledgement

This work has received funding from the European Union's Horizon Europe research and innovation programme under grant agreement No 101070254 (CORESENSE). Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Commission. Neither the European Union nor the granting authority can be held responsible for them.