Home-Service-Robot

Summary of Tasks

Let’s summarize what should be done in this project to simulate a home service robot:

1. Design a simple environment with the Building Editor in Gazebo.
2. Teleoperate your robot and manually test SLAM.
3. Create a wall_follower node that autonomously drives your robot to map your environment.
4. Use the ROS navigation stack and manually commands your robot using the 2D Nav Goal arrow in rviz to move to 2 different desired positions and orientations.
5. Write a pick_objects node that commands your robot to move to the desired pickup and drop off zones.
6. Write an add_markers node that subscribes to your robot odometry, keeps track of your robot pose, and publishes markers to rviz.

Install ROS Navigation System

$ sudo apt-get update
$ sudo apt-get install ros-kinetic-navigation

install xterm

$ sudo apt-get install xterm

For this setup, catkin_ws is the name of the active ROS workspace.

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
source devel/setup.bash

Clone the required repository to the ~/catkin_ws/src folder. Note that this repository already includes official ROS packages compatible with this repository: gmapping, turtlebot_teleop, turtlebot_rviz_launchers, and turtlebot_gazebo.

• gmapping: With the gmapping_demo.launch file, you can easily perform SLAM and build a map of the environment with a robot equipped with laser range finder sensors or RGB-D cameras.

• turtlebot_teleop: With the keyboard_teleop.launch file, you can manually control a robot using keyboard commands.

• turtlebot_rviz_launchers: With the view_navigation.launch file, you can load a preconfigured rviz workspace. You’ll save a lot of time by launching this file, because it will automatically load the robot model, trajectories, and map for you.

• turtlebot_gazebo: With the turtlebot_world.launch you can deploy a turtlebot in a gazebo environment by linking the world file to it.

cd ~/catkin_ws/src
git clone https://github.com/CarSanoja/Home-Service-Robot
sudo apt-get update
rosdep -i install gmapping -y
rosdep -i install turtlebot_teleop -y
rosdep -i install turtlebot_rviz_launchers -y
rosdep -i install turtlebot_gazebo -y

Build catkin workspace

$ cd ~/catkin_ws
$ catkin_make

source the development folder

$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Map navigation based on the built map

$ cd ~/catkin_ws/src/folders/ShellScripts
$ ./home_service.sh 

Results

Video: https://youtu.be/e1sITd4z_jg