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Colostomy Care

This is the code repository for our Colostomy Care Capstone project for CSE 481C (Spring 2023), operating on the Stretch-2 robot. The motivation for the project is that caregivers often hesitate to remove the bag due to odor issues, which creates discomfort for both the patient and the caregiver.

Components

web-interface/colostomy-care-web-interface.html: is the main UI for the user to control, it connects to the Stretch Robot IP, this website can be ran on local computer after setting up the ROS_MASTER_URI

colostomy-care is the ROS package that we created it contains the following:

  • saved-poses.py: performed saved poses to align with colostomy bag, remove it, throw it, and stow joints.
  • navigation.py: given an initial position, navigate to the patient, and the bin. These positions are currently ard coded, you can adjust the hard coded values after reading the values from /amcl_pose topic (after giving initial pose and navigation goal to the desired position after running the hello robot's navigation.launch).
  • teleop.py: allow the controls of the joins and the base of the robot.
  • aruco_navigation.py: handles the navigating to patient and bin
  • aruco_navigation_helper.py: helper node to save/delete robot poses relative to the markers and to navigate to it. Code inspired by Hello Robot's aruco_navigation feature

For recording new poses: we utilize the testing/saved-poses-by-demo.py.

To run the Colostomy-Care process

  1. Start the stretch_ros's navigation stack on the robot, colostomy-care.yaml is created using hello robot's navigation tutorial
    roslaunch stretch_navigation navigation.launch map_yaml:=${HELLO_FLEET_PATH}/maps/colostomy-care.yaml rviz:=false
  2. Start the rosbridge_websocket, to allow the web interface to connect with the robot
    roslaunch rosbridge_server rosbridge_websocket.launch
  3. Run the realsense camera on the robot
    roslaunch stretch_core d435i_high_resolution.launch
  4. Launch file to start our nodes on the robot
    roslaunch colostomy-care colostomy-care.launch
  5. Locally set the ROS_MASTER_URI of the robot, you can use hostname -I
    export ROS_MASTER_URI=http://<robot hostname>:11311
  6. Locally run rviz
    rosrun rviz rviz -d $(rospack find colostomy-care)/rviz/colostomy-care.rviz

Development Blog

https://sites.google.com/view/colostomy-care-robot/home