TIAGo ROXANNE

CNR (National Research Council of Italy) internship project on timeline-based planning, using ROS (rospy) and the TIAGo robot on the Gazebo simulator.

Installation

TIAGo Workspace

To have a system up and running for TIAGo, follow the instruction in this tutorial.

Once completed there's a workspace named tiago_public_ws ready for TIAGo simulation, using ROS Melodic and Ubuntu 18.04.

ROXANNE Workspace

As with TIAGo you need to prepare the ROXANNE workspace, you can do this by following the git instructions of roxanne_rosjava.

At the end of the configuraiton there's a workspace named ws and it should be possible to run ROXANNE and send and execute planning requests.

roxanne_rosjava_msgs Package

Since tiago_roxanne uses ROXANNE messages to communicate with the planner it's necessary that it can access the roxanne_rosjava_msg package, to do so, copy the folder corresponding to the package inside the tiago_public_ws folder.

In the CMakeLists.txt file, comment, with #, or remove the line catkin_rosjava_setup().

Then build the package from tiago_public_ws with catkin build roxanne_rosjava_msgs.

~/tiago_public_ws
catkin build roxanne_rosjava_msgs

tiago_roxanne Package

At this point configure the tiago_roxanne package in the tiago_public_ws workspace by cloning this repository.

cd ~/tiago_public_ws/src
mkdir tiago_roxanne
cd tiago_roxanne
git clone https://github.com/Xhst/tiago_roxanne.git

And then by building the package.

cd ~/tiago_public_ws
catkin build tiago_roxanne

Simulation

To run the simulation execute:

~/tiago_public_ws/src/tiago_roxanne/bash/setup.bash