Application for controlling ROS robot with voice commands, sending goals on map or remote controll with virtual joystick 29.03.2020
Please note that I made this app as a beginner (~29.03.2020), there are some mistakes and bad practices that should be changed, architecture / state management is also not great. It serves as a demo and the starter point for anyone interested in ROS + Flutter, please keep in mind that it is unlikely that the repository will be updated and / or activelly updated. Sorry for the inconvenience and unresolved issues.
Check out youtube video showcasing app (PL + ENG subtitles):
You can move robot between points which are created fter clicking on the fab.
https://github.com/Rongix/ros_navigation_command_app
Chat page provides communication with Dialogflow Agent.
This app is not internationalized, there are some UI hardcoded strings in polish, sorry for any inconvenience! It uses polish dialogflow intents so it may be tricky to get it running flawlessly.
This app has english and polish versions (no dialogflow agent included)
You need to have ROS installed. App was tested with Turtlebot3 Waffle Pi in the simulation environment, althought it can work with any robot. You can quickly set topics and configurate ROS in the app settings.
This project is a Flutter application.
A few resources to get you started if this is your first Flutter project:
For help getting started with Flutter, view our online documentation, which offers tutorials, samples, guidance on mobile development, and a full API reference.
A few resources to get you started if this is your first Flutter project:
For help getting started with Flutter, view our online documentation, which offers tutorials, samples, guidance on mobile development, and a full API reference.
- You don't need real robot to run app and navigate.
- ROS Melodic - Ubuntu 18.04 / ROS Kinetic - Ubuntu 16.04)
- Flutter.
- Node.js for interactive map.
ROS kinetic: please follow instruction ROS Melodic: Instruction for Ubuntu 18.04 below:
- Following step will update your system and install ROS-Melodic-dekstop-full version. It will also create few aliases and source ROS-melodic environment in your .bashrc, and create catkin_ws folder in your root directory.
sudo apt update
sudo apt upgrade -y
wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_melodic.sh && chmod 755 ./install_ros_melodic.sh && bash ./install_ros_melodic.sh
- Install dependencies.
sudo apt install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers
- Install packages for Turtlebot3 (it contains node for simulation).
cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make
- In the next steps you should configure your network.
sudo nano ~/.bashrc
// EDIT FIELDS: Replace with your ip adress. Please not that you should not use http://localhost:11311 because it won't work.
// Get your ip with: hostname -I
// EXAMPLE: export ROS_MASTER_URI=http://192.221.1.11:11311
// EXAMPLE: export ROS_HOSTNAME=192.221.1.11
// REPLACE: 192.221.1.11 with your ip.
- Install camera package.
cd ~/catkin_ws/src/
git clone https://github.com/OTL/cv_camera.git
cd ~/catkin_ws && catkin_make
// EXAMPLE of use: rosparam set cv_camera/device_id 001
// EXAMPLE of use: rosrun cv_camera cv_camera_node
- Export ROS parameters; simulated robot model. I use waffle_pi. Add appropriete line to your bashrc.
export TURTLEBOT3_MODEL=waffle_pi
Refer ROBOTIS e-Manual for more information.
Read instruction how to use launch nodes and fake node in simulation chapter.
roscore
roslaunch turtlebot3_fake turtlebot3_fake.launch
roslaunch turtlebot3_gazebo turtlebot3_house.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
roslaunch turtlebot3_navigation turtlebot3_navigation.launch
//NOTE: This is example, adjust paths to launch files.
roslaunch '/home/rongix/catkin_ws/src/turtlebot3/turtlebot3_navigation/launch/move_base.launch'
To use voice commands you have to configure your own dialogflow agent
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