ROS-Robotanno

This is the first attempt to run a ROS-driven Robotanno g602 using @adalbertocajueiro MQTT adaptation

Dependences and system requirements

This code has been developed in Ubuntu 18.04.6 LTS.

It is required to have installed:

- Curl

It is optional to have installed:

- ROS melodic
- Catkin
- Rviz, gazebo, Moveit

Setting up the workspace

Step 1: setup.sh

Launching this script will ask if you want to install ROS (if you haven't installed it beforehand) and probot_g602 packages. It also has a debug only feature that removes all ROS and probot_g602 packages, as well as catkin workspaces.

Step 2: executable.sh

This script will make the same workspace that is used in ED-Scorbot and ED-Robotanno (mosquitto and json libraries) and compile them into a MQTT-ROS bridge executable to be run alongside the web app to control a robot.

Step 3: launching the probot package

By launching command "roslaunch probot_bringup probot_g602_bringup.launch sim:=true" we will be running RVIZ with a simulation of our robot. Then, running the bridge executable will open a ROS node that will communicate with the nodes run by the package probot_bringup.

Step 4: Servitization!

We can now run our microservices and control our simulated robot via web app. Microservices order is:

• java, python
• angular
• MQTT-ROS executable