robotics-seach-program

Overview

This program uses ROS, ROS smach, and YOLO to search for cake in the empty_stage_single_robot floor plan in the rosplan_stage_demo package. Once found the robot will stop the search. Every couple of seconds the robot reports progress (this includes everything it saw up to now).

Prerequisits:

• linux ubuntu 20.04
• ROS, and ROS smach (I installed it using apptainer -- recommended)
• YOLO
• rosplan_stage_demo package

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Before you start remember to:

• Change coco.data inside the config folder to point to the training set for YOLO
• Run the contianer using apptainer:
  • apptainer run ros-container.sif
• Make the folder available to ROS:
  • source devel/setup.bash
• Run roscre:
  • roscore &

To run the program just run it like a normal ROS program:

• In the terminal run the following to start both services: (Note: the package is called second_coursework, you may change that if you wish)
  • rosrun second_coursework action_client.py
  • rosrun second_coursework room_service.py
• You may be using either bags or an actual camera attached to a robot. Please note: that the camera topic in the robot (and therefore, in the ROS bags) on which the images are published is /camera/image.

NOTE: the floor plan in scripts/room_service.py is taken from empty_stage_single_robot in the rosplan_stage_demo package. Once installed you can use the following to view the floor plan

$ roslaunch rosplan_stage_demo empty_stage_single_robot.launch
$ rosrun rviz rviz -d `rospack find rosplan_stage_demo`/config/rosplan_stage_demo.rviz

The floor plan is meant to look something like this: