CoreSense4Home

Installation

See Software setup

Usage

Navigation

ros2 launch robocup_bringup navigation.launch.py

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