TTS install

pip3 install gtts playsound
pip3 install pydub

Port Setup

cd ~/ros2_ws/src/tetra
sudo chmod 777 ./initenv.sh
sudo ./initenv.sh

Robot Bringup

ros2 launch tetra tetra_configuration.launch.py

SLAM

ros2 launch tetra_cartographer cartographer_slam.launch.py

NAVI

ros2 launch tetra_nav2 nav2.launch.py

TTS server launch

ros2 launch bmkbot_io bmkbot_io.launch.py

FlexBE launch

ros2 launch flexbe_app flexbe_full.launch.py  

GUI launch

ros2 launch bmkbot_gui bmkbot_gui.launch.py