laundryman SSY235 project
Installation guide
Clone this repo to a catkin workspace
Change camera resolution:
In simulation_ws/src/tiago_robot/tiago_description/urdf/sensors/openni.gazebo.xacro
Change the camera resolution to 1920x1080 to get a stable aruco detection and pose estimation.
Install SLAM map
cp -r path/to/laundryman/map $HOME/.pal
Install libtorch
curl https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-1.7.1%2Bcpu.zip
unzip it in the laundryman root dir
Run simulation with tables, cubes and the robot model
roslaunch laundryman laundryman.launch
Run navigation + Rviz + aruco detection + rosprolog
roslaunch laundryman navigation.launch
Run the CNN node
rosrun laundryman vision_node
Run motion control
rosrun laundryman motion_control_node
control the robot manually
rostopic pub /move_to_bucket std_msgs/UInt32 "data: 0" --once
change the 0 to 0, 1, 2, 3 to select tables
Run the laundry sorting process
rosrun laundryman main_node