Set of packages to allow colaboration between CIRS (UdG) and CIRTESU (UJI) research labs for the OPTIHROV project.
The way of communication between the HRI and the instruction server is done initially through iauv_commander/Instruction messages.
After an instruction marker has been created in the HRI and uploaded to the instruction server, the HRI will publish changes in the marker to the iauv_commander/marker_server/feedback
topic using visualization_msgs/InteractiveMarkerFeedback msgs.
General flow diagram
Steps for instruction creation example execution: In a linux terminal, execute
sudo apt install ros-noetic-rviz-visual-tools
cd catkin_ws/src
git clone https://github.com/GitSRealpe/optihrov_colab.git
cd ..
- Within the catkin tools workspace defined:
catkin build human_robot_interface
source devel/setup.bash
- Terminal 1:
roscore
- Terminal 2:
roslaunch iauv_commander commander_server.launch
- Terminal 3:
roslaunch human_robot_interface hmi.launch
- Terminal 2 should print
received instruction "goal1" of type: moveto
Given this, if any interface publishes a visualization_msgs/InteractiveMarkerFeedback message to the iauv_commander/marker_server/feedback
topic, Terminal 2 should output said feeback.