Home-Service-Robot

Udacity Robotics Software Engineer Nanodegree Program [Project 5]

Related Projects

• Map My World (SLAM)
• Where am I (Monte Carlo Localization)
• Go chase it

Project Goals

The goal of this project was to design a robot's environment in gazebo and program the home-service robot that will map it's environment and autonomously navigate to pre-specified pickup and drop-off locations. For this one needed to:

• Design robot's environment with the Building Editor in Gazebo.
• Teleoperate the robot and manually test SLAM.
• Use the ROS navigation stack and manually command the robot using the 2D Nav Goal arrow in rviz to move to 2 different desired positions and orientations.
• Write a pick_objects node that commands the robot to move to the desired pickup and drop off zones.
• Write an add_markers node that subscribes to the robot odometry and publishes pick-up and drop-off markers to rviz.
• modify pick_objects node and add_markers node to establish communication between them, to complete desired home service robot implementation

Prerequisites

(since I have not tested on multiple platforms, and versions, I am listing only the configuration I used)

• Ubuntu 16.04 OS with default make (>=4.1) and g++/gcc (>=5.4) packages
• Gazebo >= 7.0
• ROS Kinetic
• following ROS packages were used and the process of obtaining them is detailed below:
  • gmapping
  • turtlebot_teleop
  • turtlebot_rviz_launchers
  • turtlebot_gazebo

Clone and Build

Since the folder presented here comprises only of ROS package, one needs to first create a catkin workspace and initialize it. Also, note that the official ROS packaged are already included here, but their dependencies need to be installed; steps for this are given below.

Within your home directory, execute the following:

mkdir -p catkin_ws/src
$ cd catkin_ws/src
$ catkin_init_workspace

Within ~/catkin_ws/src/ download or clone folders of this repository:

$ cd catkin_ws/src/
$ git clone https://github.com/kennydukor/Home-Service-Robot.git

Install dependencies:

$ rosdep -i install gmapping -y
$ rosdep -i install turtlebot_teleop -y
$ rosdep -i install turtlebot_rviz_launchers -y
$ rosdep -i install turtlebot_gazebo -y

NOTE: If any of the official packages give error, I recommed you delete associated folder and clone with src folder using appropriate line from here:

$ git clone https://github.com/ros-perception/slam_gmapping.git  
$ git clone https://github.com/turtlebot/turtlebot.git  
$ git clone https://github.com/turtlebot/turtlebot_interactions.git  
$ git clone https://github.com/turtlebot/turtlebot_simulator.git

Go back to catkin workspace and build it

$ cd catkin_ws/
$ catkin_make

Launch specific application and visualize

From the catkin_ws/ directory run the following commands:

Testing SLAM

$ ./src/script/test_slam.sh

Testing Navigation

$ ./src/script/test_navigation.sh

Pick_objects

$ ./src/script/pick_objects.sh

Add Markers

$ ./src/script/add_marker.sh

Home Service

$ ./src/script/home_service.sh