liuyanqi / cs2951k

empty chair detection

cs2951k

empty chair detection

main.py: detecting chairs in the map

chair_display.py: displaying all the chairs after exploring

person_detection.py: detecting person in the mid of the frame, send person counter to nav.py

nav.py: finite state machine that checks if there is person detected, if so navigate to the closest chair

exploring phase

• 'roslaunch movo_remote_teleop movo_remote_teleop.launch'
• 'roslaunch movo_demos mapping.launch'
• 'roslaunch movo_viz view_robot.launch function:=mapping'
• 'rosrun movo_detect main.py'

after navigate through the environment

save map amd move map file to the right folder

• 'rosrun map_server map_saver -f mapname'

save chair

• 'python ./tools/chair_saver.py' after seeing 'here', quit the program

navigation phase

close mapping.launch and rviz

• 'roslaunch movo_demos map_nav.launch map_file:=mapname'
• 'roslaunch movo_viz view_robot.launch function:=map_nav'
• 'python ./tools/chair_display.py'
• 'python ./tools/person_detection.py'
• 'python ./tools/nav.py"