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Plinio Moreno edited this page May 18, 2021 · 12 revisions
  • Required YARP applications (right click on each Module and hit run):
    • On Entities -> Application -> Vizzy_Startup_with_ROS (double click to open window):
      • yarprobotinterface (the robot will move to calibrate!)
      • yarpidl_rosmsg
      • vizzyUpperBodyJoints
      • vizzy_iKinGazeCtrl
      • fixationPointStatusBridge
      • fixationPointActionBridge

YARP modules

Open 4 terminals connected to vizzy-desktop (though ssh or mosh or using tmux to be able to detach):

  1. Terminal 1:
roslaunch vizzy_launch vizzy_real.launch
  1. Terminal 2:
rosrun vizzy_navigation random_movement.py
  1. Terminal 3:
roslaunch vizzy_navigation docking_action_server.launch
  1. Similar to the ROS base demo, you must locate the robot close to its actual position for the move-base package being able to find a path to the patrol positions and the docking station. The docking station must be in the correct pose (The lobby at the 7th floor) and with the W pattern open to be detected using the lasers.

  2. Terminal 4:

roslaunch vizzy_behavior_trees behavior_tree.launch tree:=patrol_and_charging loop_rate:=1.0

If you execute the command in 5. before localizing the robot properly, it will not work.