Ai_for_Robotics

Intallation

• git clone https://github.com/GovoUnibo/Ai_for_Robotics

if submodule is required

• git clone --recurse-submodules

Modify file launch

• modify argument inside the file "/home/path_to_ws/src/environment_pkg/launch/simulate_tiago.launch" **
  arg name="path_to_ws" -->default="/path_to_your_ws"<--- subs this part with path to your ws

launch the simulation

• roslaunch environment_pkg simulate_tiago.launch
• wait some minute for bring up

How to use the simulation for projects

• create a listener to "/joint_states" and listen to "wheel_left_joint" and "wheel_right_joint" position array to get wheel encoders message is sensor_msgs/JointState, so you need to import in the python file a "sensor_msgs/JointState" msg
• To move the tiago create a publisher on "/mobile_base_controller/cmd_vel"
  • use in your python script a "geometry_msgs/Twist" msg and modify the linear x component of the msg for a linear movement or angular z component for a angular movement
  • "linear:
    ---> x: 0.0
    y: 0.0
    z: 0.0
    angular:
    x: 0.0
    y: 0.0
    ---> z: 0.0"

How to use RosServices for Final Challenge

Box Services:

• BOX1/pick_up: Picks up a box. (If the box is not inside a circle of raw 1.5m, the box won't be picked up)
• BOX1/put_down: Puts down a box.
• BOX1/update_position: Updates the position of a box.
• BOX1/get_position: Retrieves the position of a box.
  (Similar services exist for BOX2 and BOX3.)

Message Box

• BoxPickUp BoxPutDown
  • request and responce are bools
• BoxUpdatePos
  • request: int32, float32 bool
  • responce bool
• BoxPos
  • request bool
  • responce float32, float32, float32 indicating x,y,z pos variable

Door Services:

• Door1/update_pos: Opens or closes Door1.
• Door2/update_pos: Opens or closes Door2.
• Door3/update_pos: Opens or closes Door3.
• Door4/update_pos: Opens or closes Door4.

Message Box

• DoorOpen
  • request and responce are bools