This is the README for the LoCobot Telenursing platform

This repository contains all the developed source code and digital assets needed for the construction, integration, and operation of the LoCoBot Telenursing Platform. Our application depends on and derives from the software developed for the LoCoBot platform by facebook research.

Pyrobot Installation and Dependencies

This installation process was verified to complete sucessfully on Ubuntu 18.04 LTS using the python 2 option during installation, and on a machine already configured with ROS Melodic. Follow the steps below to install required dependencies for executing the software found here.

These instructions will set up your system to run a simulated LoCoBot in Gazebo only (instructions modified from https://pyrobot.org/docs/software).

Prep your system and create a shortcut to the installation script:

sudo apt update

sudo apt-get install curl (if not already installed)

curl 'https://raw.githubusercontent.com/facebookresearch/pyrobot/master/robots/LoCoBot/install/locobot_install_all.sh' > locobot_install_all.sh

Make the script executable and run it.

Options: -t (type = simulator), -p (python version = 2), -l (platform = interbotix… Note for Trevor: we should verify this is correct for our hardware)

chmod +x locobot_install_all.sh ./locobot_install_all.sh -t sim_only -p 2 -l interbotix

Start the LoCoBot simulation in Gazebo, and confirm successful startup by controlling the robot via teleop:

Open three terminals. In each:

source ~/pyenv_pyrobot_python2/bin/activate

Start the simulation (terminal 1):

roslaunch locobot_control main.launch use_base:=true use_arm:= true use_sim:=true

Run teleop server (terminal 2):

cd ~/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_control/nodes python robot_teleop_server.py

Run teleop client (teminal 3):

cd ~/low_cost_ws/src/pyrobot/robots/LoCoBot/locobot_control/nodes python keyboard_teleop_client.py

Install and run Locobot Telenursing control and application sofware

Install additional dependencies:

sudo apt-get install ros-melodic-web-video-server

pip install flask

pip install Flask-Cors

Clone and run our software:

cd ~/low_cost_ws/src

Clone this repository.

./catkin_make

As above, start the simulation, this time without the teleop nodes:

source ~/pyenv_pyrobot_python2/bin/activate (in both terminals)

roslaunch telenursing_locobot_ctrl locobot_gui_control.launch

roslaunch telenursing_web_gui locobot_GUI.launch

Run the web GUI to view LoCoBot video and control the robot:

Open ~/low_cost_ws/src/LoCoBot-Telenursing-Platform/telenursing_web_gui/web/html/MainGUIPage_locobot.html