jinkaiqiu / autonomous-poop-collection-robot

A robot that goes around and captures poop!

Autonomous Poop Collection Robot

This is the source code repo for 2023 Spring Senior Design Project for at UCLA. The code intends to create a robot that is able to navigate autonomously, look for poops lying on the ground, and capture it using ROS2 Framework.

The presentation detailing the features of the robot can be found HERE

Dependencies

• ROS2 Humble
• xacro
• ROS2 Control
• Navigation 2
• SLAM Toolbox
• OpenCV

Important Folders

CRAP_navigation

Coded by Jinkai
The folder defines a ROS2 package that executes navigation related tasks such as the main control script, logics to look for poop, and logics to capture the poop. CRAP_navigation sub-folder defines the core functions of the system. config folder contains configuration related to NAV2 stack, velocity muxing, and Extended Kalman Filter. maps folder contains stored maps for reference by the NAV2 stack. launch folder contains necessary launch files to launch each of the functionalities of the robot, mostly for testing and debugging purposes.

CRAP_sim_def

Coded by Jinkai
The folder defines a ROS2 package to launch the robot either in simulation or in the physical environment. urdf folder contains urdf definition files for the robot. launch folder contains launch files that are responsible for launching either the simulation or the actual physical hardwares.

Hardware Drivers

Adopted and Coded by Jinkai The folder contains drivers for various hardwares of the robot, as well as Arduino codes. ROSArduinoBridge defines scripts that drive an Arduino for the lower-level control of two drive motors, in serial control with the controller raspberry. diffdrive_arduino is adopted to provide ROS2 control interface that handles kinematics with the Arduino controlling the drive motors. poop_collection_arduino defines scripts that drive another Arduino for executing the poop capturing actions, in serial communication with the raspberry. serial_motor_demo defines serial interface between the raspberry and the Arduinos, and it also defines an action server that executes the poop capturing action. serial_motor_msgs define the customized ROS2 messages and actions used by serial_motor_demo.

learning_node

Coded by Yini
The folder defines a ROS2 package that executes CV task that identifies poop location in 3D using a RGBD camera.

To Run

1. Compile ROS2 packages
2. Map operating environment with SLAM toolbox, running ros2 launch CRAP_navigation real_slam.launch.py
3. Save the map under CRAP_navigation/maps
4. Modify CRAP_navigation/launch/real_nav2.launch.py so it reflects the map file name and path
5. Launch the robot hardwares with ros2 launch CRAP_sim_def CRAP_sim_def/launch/real_robot_comprehensive_launch.launch.py
6. Launch NAV2 Stack along with main controller with ros2 launch CRAP_navigation real_nav2.launch.py
7. (optional) Launch velocity muxing with ros2 launch CRAP_navigation vel_mux.launch.py

Main Controller Logics

Defined under CRAP_navigation/CRAP_navigation/main_controller.py
Three states are orchestrated encapsulated in the timer_callback method, which is triggered periodically by a timer created during the initialization of the crap_main_controller node.

1. Navigation State: The robot navigates towards the detected object to a suitable position for collection. This state involves handling navigation goals and feedback to ensure the robot reaches the desired location.
2. Collection State: Once in position, the robot initiates the collection process. During this state, it sends a goal to an action server to collect the object.
3. Searching State: If no object is detected, the robot navigates to different points in its environment in search of objects.

Credits

Patrick Goebel and James Nugen for the original ROSArduinoBridge
Josh Newans for a forked ROSArduinoBridge, part of the serial_motor_demo, part of the serial_motor_msgs packages, and diffdrive_arduino
YDLidar for providing a ROS2 driver for the Lidar ( Although the driver is faulty and needed to be debugged before actual use :( )
DepthAI for providing a ROS2 driver for the RGBD camera