ISR 7 patrol demo

• 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

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

2. Terminal 2:

rosrun vizzy_navigation random_movement.py

3. Terminal 3:

roslaunch vizzy_navigation docking_action_server.launch

4. Terminal 4:

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

Similar to the ROS base demo, you must locate the robot close to its actual position for the move-base package be able to find a path to the patrol positions and the docking station.