Hypobot
Support
ROS - Melodic Python2.7
Getting started
- Create a Catkin Workspace - http://wiki.ros.org/catkin/Tutorials/create_a_workspace
- Clone this project and cvssp_turtlebot_multiple_sim
Running the Simulator
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo amcl_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
Known Issue
If you get this message Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/george/catkin_ws/src/cvssp_turtlebot_multiple_sim/launch/multiple/includes/amcl/asus_xtion_pro_amcl.launch.xml'
Run: export TURTLEBOT_3D_SENSOR=kinect
Running HypoBot in Simulator
Single Robot
roslaunch single_bot_respond_to_event.launch
Two Robots
roslaunch multiple_bot_respond_to_event.launch
Ensure that the correct name and number of robots are reflected in the available_robots config before running (located in config/available_robots.yaml)
Additional Params
There are a few params you can change in the /param directory
Environment Restocking Location
- restock_loc_x - float x-position where the robot will restock its inventory
- restock_loc_y - float y-position where the robot will restock its inventory
Robots Online
- online_robots - list of the robots and working in the hypobot system and their names
System Method of Patient Localisation
- location_method - 'pose' is the default option where you will have to provide the system with the 2D pose of the patient, other options, via CNN classification, CNN Regressor, Transformer Regressor will require an image to find the patient
Sending an event to the system
Manually for 'Pose'option
Position - x,y within your map Payload - 'insulin pen', 'glucose gel' or 'dextrose tablets' Urgency - 'red', 'amber' or 'green'