This project is about making an architecture for the RoboCup@Work entry for the Fontys@Work team. Use the sidebar if you want to navigate the entire wiki.

Look at the Robot controller setup page to get started with building and dependencies.

The repository itself contains all the packages. Therefore the repository needs to be cloned in the src folder of an existing workspace. Be sure to clone with the --recursive option and to use git submodule init && git submodule update to get the dependencies.

When the system setup is done look at the Launch files page for launch instructions on how to start the robot platform.

1. cd into src folder of the workspace. Run catkin_make and wait for it to be done.
2. Setup the launch files by building from the template files. Run src/youbot/faw/templates/build_launch.sh.
3. Run the module you want with roslaunch faw <file>.launch. For example, to run the navigation stack: roslaunch faw nav_only.launch
4. Start the UI (instructions) with rosrun map_marker map_marker.

A part of this project was doing research. We researched in three different categories for this project.

• Navigation / movement stack
• GUI lay-out / implementation
• Using camera vision to detect objects

The final reports for these categories are in PDF form and can be downloaded by clicking the links above.

Previously the Fontys@Work team also participated. These are their codebases:

• Fontys@Work Youbot repository
• Fontys@Work Youbot interface

Our efforts of trying to clean it up and get it ready for building are in the existing-repo branch.