In this publication you will find the code for the Shared Autonomy Challenge (SAC) by team HTWK Robots.
The SAC Code is divided into 2 Parts: the GUI running on the operators laptop and the firmware running on the Nao robot.
The GUI can be found in Python-GUI. It was tested to run under Linux and Windows and requires Python 3 to run. The Python dependencies are defined in requirements.txt and can be installed with pip.
The program can be run on Linux via src/main.sh or using the IDE PyCharm. The GUI connects to a Nao robot running the firmware. The IP address of the robot can be adjusted in src/main.py.
The firmware is located in Cpp-Robot-Code. It requires a C++ 17 compiler (GCC and clang were tested), Protocol Buffers and CMake.
The relase includes all code related to the SAC and can be intergated into your robot code. If desired the HTWK Vision and HTWK Motion releases can be used with the SAC code, or your own modules can be substituted.
Communication between GUI and firmware is defined with the provided .proto files. You can substitute your own communication if desired.
To build on the Linux commandline:
mkdir sacbuild
cd sacbuild
cmake ..
cmake --build .