roboVision project

A personalized voice-controlled robot assistant. The base use-case scenarios:

1. Search: The user asks the robot to find an object -> robot navigates around to find this object -> robot reports back the search status and information about the found object
2. Delivery: The user asks the robot to bring the object -> robot performs Search to find an object -> if the search is successful grabs the object and delivers it to the user
3. Sort: The user asks the robot to sort objects into different places by some criteria -> robot performs Search to find sorting places -> robot performs Delivery to sort all objects

I can build a LEGO Mindstorm robot (because I already have this one) with:

• a differential drive using two large motors for wheels and a small rotating wheel for stability
• a smartphone used as a webcam
• a gripper controlled by one medium motor
• a radar to get an approximation of object pose
• a bumper that presses a button if the collision is very near
• a possibility to use a color sensor

Detailed plan and work-in-progress

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Current state after Iteration2:

• run ngrok http --domain=<YOUR-DOMAIN-NAME> 5000 to locally run a web server with a public HTTPS URL and a flask app to receive Alexa intents
• run ros2 launch bringup main.launch.py (do not forget to source the workspace) to run all ROS files and additionally MQTT broker for communication with the robot
• run main.py on the legobot to launch MQTT client to send and receive messages from ROS
• activate your skill with the invocation name in 'Alexa developer console/YOUR-SKILL-NAME/test'
• use skill commands like drive, rotate, pause, or stop
• the intent is sent to a flask app, which also works as a ROS action client and sends a request to the action server
• action server has hardcoded execution callbacks depending on the intent (it will be changed later)

move_forward.mp4	rotate.mp4