mas_qt_tablet_interface

Interface for sending commands from the QT tablets to another robot.

The interface uses Zyre components developed in the ROPOD project to establish communication between the QT tablets, which interact with a ROS master running on the QTrobot, and another robot that has its own ROS master running. The communication between the different components is illustrated in the diagram below.

Setup

1. Clone this repository in a catkin workspace:

git clone https://github.com/migrave/mas_qt_tablet_interface.git

2. Install the Python requirements; for this, run the following command inside the package directory:

pip3 install -r requirements.txt --user

3. Build the package:

catkin build --this

Usage (Toyota HSR)

1. On the QTrobot, kill the QT interface so that the robot doesn't respond to commands from the tablets
2. Run a substitute interface that interacts with the tablets. For this, connect a machine that should interact with the tablets to the QT wifi network, export the ROS_MASTER_URI of QTrobot, and run

roslaunch mas_qt_tablet_interface qt_tablet_interface.launch

3. Connect the HSR to the QT wifi network and run

roslaunch mas_qt_tablet_interface hsr_qt_tablet_interface.launch

To use the interface with a different robot, create another launch file with the name [robot]_qt_tablet_interface.launch and update the values of the launch file arguments accordingly.