Maggie

ROS Software Maintainer: 'Social Robots Group @ RoboticsLab UC3M

Maggie robot is a social robot platform built by the Social Robots Group from RoboticsLab at University Carlos III of Madrid. The software system is written entirely in ROS. As such, all Maggie capabilities are available via ROS interfaces.

The information below is provided for those wishing to use the Maggie software system as a model for other robots.

Contents

Maggie
Installation
Running
Tutorials
Library Overview
Basic configuration
Low-Level Capabilities
High-Level Capabilities

Installation

ROS Hydro Release

Running

Please see maggie_bringup.

Tutorials

Please see the official Maggie tutorials.

Library Overview

1. Basic configuration

Here it can be found everything related with the Maggie robot and the communications.

Component	ROS package/stack
Devices-specific Messages & Services	maggie_devices_msgs
Skills-specific Messages & Services	maggie_skills_msgs
Robot model (URDF)	maggie_description (not yet)

2. Low-Level Capabilities

Here it can be found everything related with the devices and the drivers.

2.1. Communications

Component	ROS package/stack
Semaphores & RS232	sr_common_drivers

2.2. Drivers

Component	ROS package/stack
IR drivers	maggie_ir_drivers
Labjack drivers	maggie_labjack_drivers
Motor drivers	maggie_motor_drivers
RFID drivers	maggie_rfid_drivers
Serial communication drivers	maggie_serial_comm_drivers

2.3. Devices

Component	ROS package/stack
Base	maggie_base
Eyelids	maggie_eyelids
IR Controller	maggie_ir_controller
Labjack	maggie_labjack
Motors	maggie_motor_controller
RFID	maggie_rfid

3. High-Level Capabilities

Component	ROS package/stack
rqt GUI	rqt_social_robots
Navigation	maggie_navigation
Maps	uc3m_maps
Perception	vision_opencv, pcl, tabletop_object_perception
Decision Making	maggie_decision_making