Navigation

The navigation part provides two action servers that provides human-aware navigation for the robot. The approach allows the robot to approach a human in order to begin an interaction. The navigation allows the robot to navigates to a point B while avoiding obstacles and safely avoiding humans.

Installation instructions

1. Clone this repo if not done already. git clone https://github.com/LAAS-HRI/mummer_integration.git

2. Download the Naoqi python SDK for Linux. You need to log-in or create an account at https://community.aldebaran.com/ then go to https://community.ald.softbankrobotics.com/en/resources/software/language/en-gb and download the Python SDK in version 2.5.5 (latest version at the time, if an other version is needed, please submit an issue.)

3. Copy or move the downloaded archive to mummer_integration/navigation/pynaoqi_sdk/ cp /path/to/downloaded/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz /path/to/mummer_integration/navigation/pynaoqi_sdk/

4. Build the docker image. cd /path/to/mummer_integration/navigation/ && docker build -t navigation:navigation . (may require sudo depending on your docker configuration) It will take time.

5. Once the image has been successfully built, run a container with network access (may be a security concern). docker run --net=host -e ROS_MASTER_URI=${ROS_MASTER_URI} navigation:navigation

6. To call provided services you need to install move_base_msgs ROS package. sudo apt-get install ros-$(rosversion -d)-move-base-msgs

Now navigation container is up and running you should be able to use the approach action server and the human aware navigation action server.