Smart table node

• Smart table have to run on system that has a physical sensor connected to it
• Smart table need to have access to proper USB port to work sudo chmod 777 /dev/ttyUSB0 (or other USB number, depends on configuration)
• Smart table is turned on by default right now but signal to turn it on manually might be usefull rostopic pub /table/sgn_on std_msgs/Bool "data: true"

python3 ./smart_table.py

rosrun smart_table smart_table.py

If it don't die with Ctrl+C use Ctrl+\.

Scenario manager node

• Scenario manager need dialog node to running roslaunch dialog websocket.launch
• Scenario manager need smart_table to work properly. Smart table can be launched later or restarted when scenario manager works.

python3 ./scenario_manager.py

rosrun smart_table scenario_manager.py

Rico docking

Undock robot

rostopic pub /undocker_server/goal laser_servoing_msgs/UndockActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal: {}"

Dock robot

rostopic pub /go_and_dock/goal dock_charge_sm_msgs/GoAndDockActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  retry_delay:
    secs: 0
    nsecs: 0
  use_current_pose: true"

Caution

During development of this code and tensorflow models I stumble upon this issue. To go through it I worked with tensorflow in version 2.12. If you will have problems with models try to use this version of tensorflow.

To don't mess your global workspace I recommend to use venv and python 3.8. Also I created script to setup this venv. This script creates venv in directory of executing.

sudo apt-get install python3.8-venv
source ./venv_setup.sh