The goal of the project is to implement a fetch and delivery behavior for the robot Tiago.

All the details are specified in the Report.pdf

Clone the package

  git clone https://github.com/Mattolo4/Fetch-Delivery-routine-for-Tiago.git

Go to the workspace that contains the package

  cd catkin_ws

To start the simulation, launch the simulation with all action server nodes and service nodes.

roslaunch assignment_2_group_12 Assignment2.launch

Start the node_a
(NB. wait until Tiago's arm is tucked before launching node_a)

rosrun assignment_2_group_12 node_a

Starting the main node the pick and place procedure will start.

• Gabriel Taormina
• Stefano Trenti
• Matteo Villani