mas_domestic_robotics
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b-it-bots
Robot-independent ROS packages for domestic applications
The latest version of rasa requires protobuf >=4.23.3 (see [here](https://github.com/RasaHQ/rasa/blob/main/pyproject.toml#L133C13-L133C21)) The latest version of mediapipe requires protobuf < 4 (see [here](https://github.com/google/mediapipe/blob/master/requirements.txt#L7C18-L7C18)) For now we've downgraded rasa to 3.6.1 which has...
## Describe the bug 2dlocaliser suppose to get map on the topic "map_update" but its not getting it, because of this, the robot can't localize itself correctly. ## Steps to...
# Summary of changes This pull request addresses introduces a `recognize_gesture_action` action, which involves two stages: * Gesture classification: classifying an observed gesture according to a set of known gesture...
# Summary of changes This pull request addresses part of #230. It introduces an implementation of DMP obstacle avoidance as presented in [this paper](https://ieeexplore.ieee.org/document/5152423), where a force term computed from...
## Problem description The current DMP-based implementation of the move arm action uses open-loop, naive trajectory generation, which does not take obstacles into account. For example, if the robot attempts...
Related to https://github.com/b-it-bots/mas_knowledge_base/issues/15 and https://github.com/b-it-bots/mas_domestic_robotics/issues/226 In order to use the knowledge from the ontology for planning, our [default planning domain](https://github.com/b-it-bots/mas_domestic_robotics/blob/kinetic/mdr_planning/mdr_rosplan_interface/config/default_domain.pddl) needs to be appropriately modified. In particular: 1. the types...
We need a new skill to move/turn the head towards a specific point in order to perceive. # Context This component is needed for the _Take out the garbage_ [see...
The current action is embedded in the perceive plane action and should be refactored and separated to its own action server. This should also apply to other objects, for instance,...
Potentially related to https://github.com/b-it-bots/mas_domestic_robotics/issues/155 Once https://github.com/b-it-bots/mas_knowledge_base/pull/16 is merged and we have a decent model of our lab, it would be good to be able to test our robot's planning capabilities...
## Problem description Our current [`place` action](https://github.com/b-it-bots/mas_domestic_robotics/tree/devel/mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action) doesn't have any monitoring and recovery behaviours, so the component always thinks that it has performed the action successfully. We thus need to...