Instructions to run the Tiago Librarian demo simulation
Software Framework
- ROS Kinetic
- Ubuntu 16.04 LTS
Note: Assuming all the TIAGo packages are set on your computer
Challenge Packages
- From the repository, copy following packages to the ROS workspace and do catkin build
mob_manip_challenge_2018
mob_manip_gui
Use-case 1: Delivering book to a table
Starting the simulation with MoveIt! and ROS navigation stack
$ roslaunch mob_manip_challenge_2018 mob_manip_2018_bringup_all.launch
Starting the grasping pipeline
$ roslaunch mob_manip_challenge_2018 pick_place_bringup.launch
Starting the demo execution node
$ rosrun mob_manip_challenge_2018 library_robot_bringup.py
Use-case 2: Guiding student to the shelf
Starting the simulation with MoveIt! and ROS navigation stack
$ roslaunch mob_manip_challenge_2018 mob_manip_2018_bringup_all.launch
Start rqt to start GUI, Load the Mob manip GUI from Plugins->Mob_Manip_GUI
Now you can select a book and robot will guide you
Demo Video
