bobd988 / homeservice-robot

Home Service Robot

The goal is to program a home service robot that will autonomously map an environment and navigate to pickup and deliver objects.

• Build a simulated map using Gazebo building editor
• Build a map of the environment using gmapping and teleop.
• Use Adaptive Monte Carlo Localisation to detect the robot position within the known map.
• Use the ROS move_base library to plot a path to a target pose and navigate to it.
• Write a custom node to encompass the path planning and driving libraries, listening for goal poses.
• Write a custom node to publish goal poses for the robot, then compare these to the actual pose (odometry topic) to determine success

References

This project utilizes the following ROS packages

gmapping turtlebot_teleop turtlebot_rviz_launchers turtlebot_gazebo

and make sure to install the ROS navigation stack

sudo apt-get install ros-kinetic-navigation

Package Tree

    ├──                                # Official ROS packages
    |
    ├── slam_gmapping                  # gmapping_demo.launch file
    │   ├── gmapping
    │   ├── ...
    ├── turtlebot                      # keyboard_teleop.launch file
    │   ├── turtlebot_teleop
    │   ├── ...
    ├── turtlebot_interactions         # view_navigation.launch file
    │   ├── turtlebot_rviz_launchers
    │   ├── ...
    ├── turtlebot_simulator            # turtlebot_world.launch file
    │   ├── turtlebot_gazebo
    │   ├── ...
    ├──                                # customized packages 
    |
    ├── worlds                          # world files
    │   ├── ...
    ├── shellscripts                   # shell scripts files
    │   ├── ...
    ├──rviz_config                      # rviz configuration files
    │   ├── ...
    ├──wall_follower                   # wall_follower C++ node
    │   ├── src/wall_follower.cpp
    │   ├── ...
    ├──pick_objects                    # pick_objects C++ node
    │   ├── src/pick_objects.cpp
    │   ├── ...
    ├──add_markers                     # add_marker C++ node
    │   ├── src/add_markers.cpp
    │   ├── ...
    └──

To run the home service robot script file, open a terminal and run the following commands.

$ cd ~/catkin_ws
$ source devel/setup.bash
$ catkin_make
$ cd src/shellscripts
$ ./home_service.sh