EE4-MedicMike

HCR Coursework 2018

Medic Mike is an implementation on the robot Baxter that enables it to operate as a pahrmaceutical assistant, recognising customers and medical prescription to hand you the medicine you need in an automated manner.

Directory Structure

~/ros_ws
    baxter.sh
    build/
    devel/
    src/                 => GIT REPO - what we handed in
        .gitignore
        README.md
        mm_movement/
            scripts/
                deliver_box.py
                ...
        mm_spr/
            scripts/
                speech.py
        ...

How to install

1. Run our setup.sh script (in the folder ros_setup) to set up the Baxter workspace:

chmod +x ./setup.sh
./setup.sh

In the 2 cases when vim opens, change the following lines:

baxter_hostname="something.local"

to

baxter_hostname="011401P0008.local"

and

your_ip="192.168.XXX.XXX"

to have your computer's IP address

and

ros_version="indigo"

to

ros_version="kinetic"

2. Run our setup2.sh script to set up the repo within the src of the catkin workspace:

chmod +x ./setup2.sh
./setup2.sh

Running the Baxter simulator

In 2 terminal tabs, run:

cd ~/ros_ws
./baxter.sh sim

In the 1st tab, run:

roslaunch baxter_gazebo baxter_world.launch

The gazebo terminal window should open with the robot in the world.

Then, in the 2nd terminal tab:

rosrun baxter_tools enable_robot.py -e

You can now run python scripts in the 2nd terminal to move Baxter and see it in the gazebo simulator. For example:

rosrun mm_movement deliver_box.py -s 3