YacYac Robot

( When you click on the image above, you can see the demo link. )

YACYAC, an autonomous robot, effectively executes complex tasks using BehaviorTree algorithms. It reduces the workload of nurses and ensures patient safety, enhancing the efficiency of robotic operations in healthcare environments.

HW architecture

SW architecture

Clone

This repository manages dependencies through submodules.

git clone --recursive https://github.com/dawan0111/yacyac.git

Dependence package install

sudo apt install libzbar-dev libzmq3-dev ros-${ROS_DISTRO}-rosbridge-server ros-${ROS_DISTRO}-image-transport ros-${ROS_DISTRO}-compressed-image-transport ros-${ROS_DISTRO}-cartographer-ros ros-${ROS_DISTRO}-nav2*

LiDAR SDK install

cd ~/ros2_ws/src
git clone https://github.com/YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK/cmake
cmake ..
make
sudo make install

sudo apt-get install python swig
sudo apt-get install python-pip
cd .. && pip install .

GCP(Google Cloud Platform) TTS dependence install

pip install --upgrade google-cloud-texttospeech
pip install playsound

Setup USB rules

sudo sh initenv.sh