feat: Added MPC for person tracking and separated llm agent into two controllers, one for each robot.#13
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maeri18 wants to merge 26 commits intosnt-arg:mainfrom
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feat: Added MPC for person tracking and separated llm agent into two controllers, one for each robot.#13maeri18 wants to merge 26 commits intosnt-arg:mainfrom
maeri18 wants to merge 26 commits intosnt-arg:mainfrom
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…t_suite into feat/person_tracker
… commands from the target person
Feat: robot_station version 1 The changes made include: First version of robot_station (CSS not finished) Uniformization of node names in files (especially launch files) Improving the drawing package of the person tracking plugin for better visuals Deleting package dependencies (node modules) and test ssh keys.
…and a central agent managing the controllers. Also fixed bugs in the person tracking package : Behavioural bugs in tracker nodes, and MPC for following_commands_node.
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…e rotation to avoid crashing to robot to obstacles while rotating for to find the target
…. Also modified llm_agent.py to support voice input and output.
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Description
This PR integrates changes mainly to the robot_agent, robot_bringup and person_tracking packages.
Fixes #(issue)
Type of change
Bug fix: In the person tracking package to integrate MPC for computing the control commands. The code was improved to use timestamps rather than integer counter for frames. Other behavioural bugs were fixed.
New feature : First draft version of the robot station, a web interface for intuitively managing the plugins and interacting with the robots + Support of image compression in the tello driver and image processing plugins.
Breaking change: The robot agent was splitted into two controller for each robot (tello and spot), with a central agent acting as an interface between the robot controllers and the LLM model. Similarly, the robot_bringup package was modified to have separate launch files for the spot and the Tello.
How Has This Been Tested?
The suite has been tested in real world scenarios with the Tello drone. The drone showed expected behaviours when running the plugins, but in some cases, the person tracking plugin fails to find the target after it was lost. One of the causes was temporary freeze in the object detection process.