TIAGo-LLM-Control

This code is intended to let the user control a TIAGo Robot by using a LLM to interface with ROS. In it's current state, it allows for the usage of Voice Recognition to control the robot using a series of keywords, which are displayed by a UI

Installation

Prequisites

1. Ubuntu 20.04 OS
   • If trying to run this code on a Windows machine, VirtualBox is a good VM to run this on
2. Install ROS
   • The Version installed is noetic, which is being run on a Ubuntu 20.04 Virtual Machine
3. Install pip
   • In order for the Dependencies of this package to be installed, pip needs to be installed beforehand. Run the following in a terminal in Ubuntu:

     sudo apt install python3-pip

Building Code

1. Before running code the first time
   1. Installing Dependencies using rosdep
      • To install the dependencies that this package needs in order to run properly:

        rosdep install --from-paths src --ignore-src -r -y

      • Note that you can troubleshoot error messages for dependencies needed for the package by running:

        rosdep check --from-paths src --ignore-src -r -y

      • If you do not have pip installed, this step will fail
   2. Using catkin
      • To build the code, run:

        catkin_make

2. After Changing the code
   • The code needs to be rebuilt to reflect updates. Run:

     catkin_make

Running Code

1. Launch a TIAGo Simulation or connect to the physical robot. Below is an adjusted command to raise the simulation, with a breakdown of why it should be used.
   • Simulation Example:

     roslaunch tiago_2dnav_gazebo tiago_mapping.launch public_sim:=true end_effector:=pal-gripper rviz:=false tuck_arm:=false world:=empty

     • You should use tiago_2dnav_gazebo, as the default tiago_gazebo does not advertise the /scan topic, which is required to prevent collisions.
     • Optional: "rviz:=false" - prevents rviz from being launched, which is used to create a map based off of the sensors.
     • Optional: "tuck_arm:=false", to avoid having to wait for the motion to finish playing when first launching
2. Launch this code
   • Each time a new terminal is opened, you need to first run the following for ros to locate your package:

     source devel/setup.bash

   • Otherwise, you just have to run

     roslaunch controls run.launch

     • Upon Launching this code, you have a prompt that asks you if you want to run the code in Safe mode
       • Safe Mode prevents voice commands from being available, as the movements they call up do not have safeties built into them properly
     • After this, an infinite loop shall occur, that will prompt you with various potential voice commands
       • You may quit this by speaking "quit", or pressing Ctrl + C on the keyboard

Optional: Troubleshooting node interactions

It is possible to run some aspects of the code without having to launching a TIAGo simulation. This is only suggested for troubleshooting interactions between different nodes

1. Launch roscore in a terminal, and leave it running

   roscore

2. In a new terminal,

   source devel/setup.bash rosrun controls NODE_NAME

The current valid values for NODE_NAME are base_client.py, voice_controls.py, and arm_controls