This is a submission for the design course MIE443: Mechatronics Systems: Design and Integration at the University of Toronto

Date: April 15, 2021 Group: 20

Open seven terminals. Navigate to catkin_ws in each of them. Build the project files and source the appropriate scripts using the following command: catkin_make && source devel/setup.zsh

1. In terminal #1 go to catkin_ws/src/ and run conda activate mie443 then change to catkin_ws/ and run roslaunch mie443_contest3 turtlebot_world.launch world:=practice

2. In terminal #2 run roslaunch mie443_contest3 gmapping.launch

3. In terminal #3 change to the project src directory and run conda activate mie443; python victimLocator.py

4. In terminal #4 change to the project src directory and run conda activate mie443; python emotionClassifier.py --model mdl_best_bc.pth

5. In terminal #5 run roslaunch turtlebot_rviz_launchers view_navigation.launch

6. In terminal #6 run roslaunch mie443_contest3 contest3.launch

NOTE: If exploration stops, re-launch contest 3 files by running the command again. Exploration related errors are outside of our problem scope as outlined here.

7. In terminal #7 run conda deactivate then run rosrun sound_play soundplay_node.py

The output file containing the results of the emotions of the victims discovered can be found in ~/.ros and is named Output_file.txt

MIE443 Contest 3 repository is here.