Home-Service-Robot

Udacity Robotics Software Engineer Nanodegree Program [Project 5]

Related Projects

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:

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

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