Robotics subject Cin-UFPE TiaGO robot

../tiago_public_ws/src/tiago_simulation/tiago_gazebo/worlds Move robotics to ../tiago_public_ws 1º Step:

`catkin build robotics`

2º Step: Close terminal (troubleshoot of processes.

3º Step: mapeamento cd tiago_public_ws/ source ./devel/setup.bash

`roslaunch robotics Mapping.launch robot:=titanium world:=robocinV3`

3.1º Step: navegação cd tiago_public_ws/ source ./devel/setup.bash

roslaunch robotics Navigation.launch robot:=titanium world:=robocinV3

1º Step: catkin build robotics chmod +x goTo.py (cd to folder of goTo.py [scripts])

2º Step: rosrun robotics goTo.py room0 (Navigation.lauch must be running)

1º Step: Create msg folder and create a file like PersonDistance.msg Inside this file shows the name and type of variable

2º Step: Add rows like are in CMakeLists.txt and package.xml from robotics package to recognize the folder msg at the import of the script pubSubs_example.py chmod +x PersonDistance.msg

3º Step: catkin build

4º Step: Open a second terminal source ./devel/setup.bash (Must run in all terminal tab or add this command to the .bashrc) rosrun robotics pubSubs_example.py

5º Step: Open third terminal source ./devel/setup.bash (Must run in all terminal tab or add this command to the .bashrc) rostopic list (check if the closest_person topic was created, if so is legen...waitforit...dary kk)

6º Step (Optional):

Move robot with rosrun robotics goTo.py room[X] or rosrun key_teleop key_teleop.py to see the rostopic echo closest_person showing the values of the topic

Detect people:

Must run: roslaunch pal_person_detector_opencv detector.launch image:=/xtion/rgb/image_raw

rosrun image_view image_view image:=/person_detector/debug

rosrun robotics person.py

1º Step: Be on: ../robotics/scripts folder

2º Step: rosrun robotics feat_match.py cocacola.jpg (The jpg file is the object that he will try to compare)

3º Step rostopic echo vision_object Optional: rosrun robotics feat_match_bkp.py "cocacola.jpg" "image.png" Compare two images

Links:

1. http://wiki.ros.org/Robots/TIAGo/Tutorials/Installation/TiagoSimulation
2. https://github.com/heitorrapela/at-my-home
3. http://wiki.ros.org/Robots/TIAGo/Tutorials

Show commands:(running gazebo)

rostopic echo -c /amcl_pose rostopic info /amcl_pose rostopic list rosnode info goTo.py

rostopic type /amcl_pose geometry_msgs/PoseWithCovarianceStamped