Recepcionist Demo
This demo is a mix of the challenges found around the page 59 in here.
Installation
Before starting make sure you have installed ROS2 humble in your system and sourced the ros underlay. It is highly recommended to add this line at the end of your .basrhc file.
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source /opt/ros/humble/setup.bash
First install the actual demo package found in here and move it to the workspace:
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mkdir -p demo_ws/src
mv recepcionist_demo.zip demo_ws/src
unzip demo_ws/src/recepcionist_demo.zip
Now install the additional packages needed:
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cd src/recepcionist_demo/
git clone --recursive https://github.com/Ar-Ray-code/darknet_ros_fp16.git
vcs import < recepcionist_demo/thirdparty.repos
vcs import < fortress_sim/thirdparty.repos
Now the only thing left is init Rosdep and compiling (Note that you need to be in the root if the workspace):
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cd ../.. # If you are already in root DO NOT EXECUTE THIS
sudo rosdep init
rosdep update
colcon build --symlink-install
source install/setup.bash
How to launch
For the moment being, this is not an easy task so please execute each of the following commands in a different terminal, also make sure to always be sourcing the workspace:
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TURTLEBOT3_MODEL=waffle ros2 launch fortress_sim simulation.launch.py # Wait for a minute
# Now wait until this is completely launched
ros2 launch fortress_sim navigation_sim.launch.py
ros2 launch darknet_ros darknet_ros.launch.py
And for last, launch the demo (if it gets stuck before going to the door for the first time please reset both the simulation and the navigation).
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ros2 run recepcionist_demo executor