/optihrov_colab

Base packages to achieve collaboration for the OPTIHROV project

Primary LanguageCSS

OPTIHROV Colab

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

Shows an illustrated sun in light mode and a moon with stars in dark mode.

Steps for instruction creation example execution: In a linux terminal, execute

  1. sudo apt install ros-noetic-rviz-visual-tools
  2. cd catkin_ws/src
  3. git clone https://github.com/GitSRealpe/optihrov_colab.git
  4. cd ..
  5. Within the catkin tools workspace defined: catkin build human_robot_interface
  6. source devel/setup.bash
  7. Terminal 1: roscore
  8. Terminal 2: roslaunch iauv_commander commander_server.launch
  9. Terminal 3: roslaunch human_robot_interface hmi.launch
  10. 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.