package-delivery

Related Nodes

• package_handler.py

• package_sender.py

• recording_sender.py

Overview

The package delivery stack is comprised of one main node, package_handler.py, and two secondary nodes package_sender.py and recording_sender.py. Each secondary node corresponds to a type of package that can be handled by the handler (the current implementation supports physical packages on top of the robot, and voice recordings recorded on the on-board laptop. Each secondary node (when pinged on its respective topic) generates a file with a specific suffix (.package and .wav respectively) that will be processed accordingly by the package handler. Each file type has an associated package release protocol, which removes the package filename from the packages queue (maintained by the handler node).

Demo

• Run recording_sender.py on-board (so computer microphone is accessed)

• Run package_handler.py and package_sender.py

• After navigating to the package sender (wait for WAITING state) place package on the robot

• After being prompted, hold down B0, B1, or B2 on the robot's base to record a message

• Send the robot a delivery navigation goal

• Once the robot has reached the goal (wait for WAITING state) pick up the package. The robot will also play back the audio recording

• After the

Ben Albert 12/16/18