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Launching the Capstone Project

Steps to Launch​

  1. Start the ROS 2 master.
  2. Launch simulation environment (Gazebo, Unity, or Isaac Sim).
  3. Run the VLA pipeline (examples/vla/pipeline.py).
  4. Start the voice agent (examples/capstone/voice_agent.py).
  5. Start the main agent (examples/capstone/main_agent.py) to connect VLA outputs to ROS 2 actions.

Notes​

  • Ensure all dependencies are installed.
  • Adjust topic names, ports, and ROS 2 namespaces if needed.
  • Use the included launch files for automated startup.