| Package | Description |
|---|---|
| cabot | This package includes cabot basic functions |
| cabot_bt | cabot behavior trees (BT), BT plugins, and some utilities |
| cabot_description | robot URDF description |
| cabot_gazebo | robot launch files for gazebo environment, counter part of cabot package |
| cabot_mf_localization | launch file and script for launching multi floor localization using RF signals (WiFi/BLE) and cartographer |
| cabot_msgs | cabot message definition |
| cabot_navigation2 | cabot core navigation logic using Nav2 |
| cabot_sites | place cabot site packages |
| cabot_ui | user interface related code and i18n files |
| mf_localization | multi floor localization function. |
| mf_localization_gazebo | gazebo utility to test multi floor localization |
| mf_localization_mapping | mapping function for multi floor localization. |
| mf_localization_msgs | message difinitions for multi floor localization |
| mf_localization_rviz | rviz plugins for multi floor localization control (floor up/down, restart localization) |
| queue_msgs | msgs for queue packages |
| queue_people_py | publish queue message to control robot in queue |
| queue_utils_py | utilities for queue |
- Tests in thie repo is solely for navigation and localization not user interfaces such as buttons, vibration pattern, speech etc.
- Such UI test should be done in the cabot repository
- run the script to download dependencies
./setup-dependency.sh
./setup-sample-site.sh
- run the script to build image and workspaces
./build-docker.sh -p -i -w # run prebuild, image build, and workspace build
./build-docker.sh -p -i -w -d # run prebuild, image build, and workspace debug build (symlink-install)
- set .env file (example)
CABOT_MODEL=cabot2-gt1
CABOT_SITE=cabot_site_cmu_3d
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- run simulator
./launch.sh -s # simulation, yes to launch a map server
- run test cases
./launch.sh -s -t # simulation, yes to launch a map server, run test
./launch.sh -s -t -H # simulation, yes to launch a map server, run test, headless
- Required settings
CABOT_MODEL # robot model (default=) to determine which launch/urdf to use CABOT_SITE # package name for cabot site (default=) RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # need to use cyclone dds due to performance issue - Optional settings
CABOT_LANG # cabot language (default=en) CABOT_OFFSET # offset size (default=0.25) CABOT_FOOTPRINT_RADIUS # robot radius size (default=0.45) CABOT_INIT_SPEED # specify maximum robot speed at startup, leave empty to restore the last speed CABOT_MAX_SPEED # you can change max_speed only when CABOT_MODEL is cabot2-gtm (defalt=1.0) CABOT_USE_GNSS # to use GNSS fix for localization (default=0) CABOT_ANNOUNCE_NO_TOUCH # announce when the reason robot is stopped is NO_TOUCH(default=false) CABOT_SIDE # left: user stands on the right, right: user stands on the left CYCLONEDDS_NETWORK_INTERFACE_NAME # to specify network interface name for Cyclone DDS - Options for image description (hold down right button for 1-3 seconds)
CABOT_IMAGE_DESCRIPTION_SERVER # image description server (default=http://localhost:8000) CABOT_IMAGE_DESCRIPTION_ENABLED # enable image description (default=false) CABOT_IMAGE_DESCRIPTION_ROTATE_LEFT # rotate left image (default=false) CABOT_IMAGE_DESCRIPTION_ROTATE_FRONT # rotate front image (default=false) CABOT_IMAGE_DESCRIPTION_ROTATE_RIGHT # rotate right image (default=false) - Options for debug/test
CABOT_GAMEPAD # (default=gamepad) gamepad type for remote controll (ex. PS4 controller) pro (Nintendo Switch Pro controller) CABOT_USE_HANDLE_SIMULATOR # to use handle simulator (default=0) CABOT_REMOTE_USE_KEYBOARD # to use teleop twist keayboard in the remote control mode (default=false) CABOT_REMOTE_USE_IMU # to use imu in the remote control mode (default=false) CABOT_SHOW_GAZEBO_CLIENT # show gazebo client (default=0) CABOT_SHOW_ROS1_RVIZ # show ROS1 rviz (default=0) CABOT_SHOW_ROS2_RVIZ # show ROS2 rviz (default=1) CABOT_SHOW_ROS2_LOCAL_RVIZ # show ROS2 local navigation rviz (default=0) CABOT_SHOW_LOC_RVIZ # show ROS1 localization rviz (default=1) CABOT_SHOW_PEOPLE_RVIZ # show ROS1 people rviz (default=0) CABOT_SHOW_ROBOT_MONITOR # show robot monitor (default=1) CABOT_RECORD_ROSBAG2 # record BT log, controller critics evalation into rosbag2 (default=1) CABOT_USE_ROBOT_TTS # use TTS service '/speak_robot' to let PC speaker speak (default=0) # this function is not used now, but maybe used in some scenario TEXT_TO_SPEECH_APIKEY # IBM Cloud Text to Speech Service's API key and URL TEXT_TO_SPEECH_URL # these two variables are required if CABOT_USE_ROBOT_TTS is 1 - Options for simulation
CABOT_INITX # initial robot position x for gazebo (default=0) CABOT_INITY # initial robot position y for gazebo (default=0) CABOT_INITZ # initial robot position z for gazebo (default=0) CABOT_INITA # initial robot angle (degree) for gazebo (default=0) - Others
## The following will be managed by docker-compose files ## be careful to set these variables in your .env file ## CABOT_GAZEBO # 1: gazebo 0: real robot CABOT_TOUCH_ENABLED # true: enabled - false: disabled disabled for gazebo and enabled for real robot in docker-compose file CABOT_USE_REALSENSE # to use realsense camera (default=0) disabled for gazebo and enabled for real robot in docker-compose file CABOT_PRESSURE_AVAILABLE # to use pressure sensor (default=0) disabled for gazebo and enabled for real robot in docker-compose file - DDS related
NET_CORE_BUFFER_SIZE_IN_MB # default 64, small buffer size can cause data congestion and degrade performance especially velodyne_points and localization
The following files/folder are under Apache-2.0 License
- cabot_navigation/launch/cartographer_mapping.launch
