DORA

DORA (Daycare Organising Robotic Assistant) is an autonomous daycare tidying robot, capable of navigating a daycare play area in order to identify and pick up toys, and sort them into piles.

Install

Clone repo and install requirements.txt.

git clone https://github.com/JacobInwald/DORA.git  # clone
cd DORA
pip install -r requirements.txt  # install

ROS2 is required for this project. To install ROS2, refer here.

Build

Source ROS2 and build project before running anything.

source /opt/ros/<distro>/setup.bash
colcon build
source install/setup.bash

Alternatively just run source setup.bash

Launch

To launch DORA, run

ros2 launch launch/dora.launch.py

Remote Display

To display camera stream on another computer, source ROS2 and build required package

source /opt/ros/<distro>/setup.bash
colcon build --packages-select remote
source install/setup.bash

then launch the display node

ros2 launch launch/display.launch.py