Alfred

Repository organisation

The code is organised in several top level packages/directories. The top level should adhere to the following subdivision of functionality (a more detailed description can be found in the folders themselves):

common/ - top-level launchfiles, msgs, and other files used by many packages

perception/ - folder for perception packages

navigation/ - folder for navigation packages

manipulation/ - folder for manipulation packages

control/ - folder for control packages

interface/ - folder for interface packages

simulation/ - folder for simulation packages

Placement of ROS packages

ROS Packages should be added in one of the top level work-package folders. The top level work-package folders themselves should not be used to store ros package information.

The directory tree should look like:

~/ws
  |__ src
      |__ common
      |   |__ alfred_msgs
      |   |__ ...
      |
      |__ perception
      |   |__ ...
      |
      |__ control
      |   |__ ...
      |
      |__ manipulation
      |   |__ ...
      |
      |__ navigation
      |   |__ ...
      |
      |__ interface
      |   |__ speech_recognition
      |   |__ ...
      |
      |__ simulation
          |__ ...

Setting up the workspace

cd ~
git clone --recursive git@github.com:Auxilio-Robotics/alfred.git ws

Install dependencies

cd ws
source /opt/ros/noetic/setup.bash
sudo apt install python3-rosdep
rosdep install --from-paths src --ignore-src -r -y

Building the workspace

cd ~/ws
source /opt/ros/noetic/setup.bash # if not done already
catkin init # to check if config is valid
catkin build

Testing the workspace

cd ~/ws
catkin build
catkin test

Run Nursing Home Simulation

cd ~/ws
source devel/setup.bash
roslaunch alfred_gazebo simulation.launch