README.md

Download dependencies

$ cd ~/ros2_ws/src
$ git clone https://github.com/uleroboticsgroup/simple_node.git
$ git clone https://github.com/uleroboticsgroup/yasmin.git

Build dependencies

$ cd yasmin
$ pip3 install -r requirements.txt

Build nodes

$ cd ~/ros2_ws
$ colcon build

To test in sim, run the nav_sim launch file

To run on the Husky

Add fsm node and navigator node to TRAILbot directory

Starting from the marc/humble_carto branch, copy the fsm folder into the trailbot's base directory

Modify Husky launch file

Add the following to the Husky launch file

# FSM Node
fsm_node = Node(
    package='fsm',
    executable='trailbot_fsm',
    name='fsm',
    output='screen'
)

# Navigator Node
navigator_node = Node(
    package='fsm',
    executable='navigator_node',
    name='test_cmd_vel_node',
    output='screen'
)

ld.add_action(fsm_node)
ld.add_action(navigator_node)

Modify the subscriber in the trailbot_fsm and navigator_node to subscribe to the perception and voice assistant node

TBD

Send a goal location manually for testing purposes.

The fsm accepts PoseStamped msgs for its goal position. To test this manually, run:

ros2 topic pub --once /target_location geometry_msgs/msg/PoseStamped '{header: {frame_id: "map"}, pose: {position: {x: 3.0, y: -3.0, z: 0.002472}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}'