Demos

These demos are tested with ros2_rb1 simulation.

Demo 1

This a navigation, STT, TTS demo using the RB1 robot.

$ ros2 launch rb1_gazebo gazebo_nav2.launch.py
$ ros2 launch merlin2_demo merlin2_demo.launch.py

Demo 2

The RB1 robot will start driving to specific points in the world. Half of the goals are canceled randomly. Distance and time are saved in a CSV file.

$ ros2 launch rb1_gazebo granny.launch.py
$ ros2 launch merlin2_demo merlin2_demo2.launch.py

Demo 3

The RB1 robot waits until it hears the sound of the doorbell, navigate to the door, attends the person and returns to the living room.

$ ros2 launch rb1_gazebo granny.launch.py
$ ros2 launch merlin2_demo merlin2_demo3.launch.py