utbots_voice

This stack contains packages related to human-robot interface, such as:

• rosaria
• ydlidar_ros_driver
• nav_main

Getting started

Installation

cd catkin_ws/src
git clone --recurse-submodules https://github.com/UtBotsAtHome-UTFPR/utbots_voice.git
cd ../

Building

catkin_make -DCMAKE_BUILD_TYPE=Release

Running

See the usage explanation accessing each package in the repository or below

Overview

rosaria

• Enables communication of the Pioneer P3AT with ROS
• Run it from the launch file in nav_main (see below)

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ydlidar_ros_driver

• LIDAR driver for ROS

# Clone
git clone https://github.com/UtBotsAtHome-UTFPR/utbots_navigation.git

# Compile YDLidar SDK
roscd utbots_navigation ydlidar_ros_driver/YDLidar-SDK/build/
cmake ..
make
sudo make install

# Install Aria
sudo apt update && sudo apt install libaria-dev

# Compile workspace
cd ~/catkin_ws
catkin_make

---

nav_main

• For programs and files related to get the navigation system working

# Lidar
roslaunch nav_main lidar.launch

# move_base (SLAM)
roslaunch nav_main move_base.launch

# RosAria
roslaunch nav_main rosaria.launch

# TF publishing between /map and /odom (and other TFs too)
roslaunch nav_main tf.launch