Faby_sim

Project: https://github.com/Faby-Telepresence-Robot

Overview

Simulation of a telepresence robot - Faby in a fabrication lab environment.

It contains a c++ script nav_goals.cpp that takes a number(which represents a goal location) as input from the user and sends Faby robot to that location.
Some goal locations like the tables have multiple goal coordinates at different sides of the tables, so Faby will go the the goal coordinate which is closest to it.
There is also a python script nav_goal.py which does the same using a simple GUI.

Software Requirements

Ubuntu 18.04
ROS Melodic

Build and Complie

To create a new workspace faby_ws, open a terminal and run the following commands:

mkdir -p ~/faby_ws/src
cd ~/faby_ws/src/
git clone https://github.com/maarufvazifdar/faby_sim.git
cd ..
catkin_make
source devel/setup.bash

Running the code

After build and compile.

To launch gazebo simulation with Faby in the Fablab(a fabrication lab).
```
cd ~/faby_ws
source devel/setup.bash
roslaunch faby_sim gazebo.launch
```
- Output:
To launch the navigation stack and Rviz, open a new terminal and run the following commands:
```
cd ~/faby_ws
source devel/setup.bash
roslaunch faby_navigation navigation.launch 
```
- Output:
To run nav_goals.cpp, open a new terminal and run the following commands:
```
cd ~/faby_ws
source devel/setup.bash
rosrun faby_navigation nav_goals 
```
Then enter a number (from 0-9), 0 represents Home/Origin, 1 represents Tabel 1, and so on...
- Output: If you enter 5, Faby starts going towards Table 5.
To run nav_goal.py, open a new terminal and run the following commands:
```
cd ~/faby_ws
source devel/setup.bash
rosrun faby_navigation nav_goal.py 
```
- Output:
  1. You will see a simple GUI.
  2. If you click 5, Faby starts going towards Table 5.

Demonstration Video