Install MERLIN2, yolov8_ros and tiago_navigation. Then clone this repository:
$ cd ~/ros2_ws/src
$ git clone https://github.com/MERLIN2-ARCH/merlin2_carry_my_luggage.git
$ cd ~/ros2_ws
$ colcon buildLaunch the robot navigation stack, in this case, the Tiago navigation:
$ ros2 launch tiago_navigation tiago_nav2.launch.pyLaunch carry my luggage actions and mission created with MERLIN2:
$ ros2 launch merlin2_carry_my_luggage_bringup carry_my_luggage.launch.pyStart the test using the following service:
$ ros2 service call /merlin2/start_mission std_srvs/srv/Trigger