The objective is to navigate to a pick-up location to retrieve a virtual object, and then proceed to a designated drop-off zone to place it.
![]() |
---|
Home Service Robot |
.home-service-robot # Home Service Robot Project
├── add_markers # add markers package
│ ├── CMakeLists.txt
│ ├── package.xml
│ └── src
│ └── add_markers.cpp
├── assets # simulation media
│ ├── robotworld.gif
│ └── robotworld.mp4
├── CMakeLists.txt
├── pick_objects # pick objects package
│ ├── CMakeLists.txt
│ ├── package.xml
│ └── src
│ └── pick_objects.cpp
├── robot_world
│ ├── CMakeLists.txt
│ ├── config
│ │ ├── base_local_planner_params.yaml
│ │ ├── costmap_common_params.yaml
│ │ ├── global_costmap_params.yaml
│ │ ├── local_costmap_params.yaml
│ │ └── __MACOSX
│ ├── include
│ │ └── robot_world
│ ├── launch # launch files for all packages
│ │ ├── amcl.launch
│ │ ├── gmapping_demo.launch
│ │ ├── robot_description.launch
│ │ ├── smallworld.launch
│ │ └── view_navigation.launch
│ ├── maps
│ │ ├── world.pgm
│ │ └── world.yaml
│ ├── meshes # meshes folder for sensors
│ │ ├── bases
│ │ │ └── burger_base.stl
│ │ ├── hokuyo.dae
│ │ ├── RpiCamera.stl
│ │ ├── sensors
│ │ │ ├── astra.dae
│ │ │ ├── astra.jpg
│ │ │ ├── lds.stl
│ │ │ ├── r200.dae
│ │ │ └── r200.jpg
│ │ └── wheels
│ │ ├── left_tire.stl
│ │ └── right_tire.stl
│ ├── package.xml
│ ├── rviz
│ │ └── amcl.rviz
│ ├── scripts # shell scripts
│ │ ├── add_markers.sh
│ │ ├── home_service.sh
│ │ ├── pick_objects.sh
│ │ ├── test_navigation.sh
│ │ └── test_slam.sh
│ ├── urdf # urdf folder for xarco files
│ │ ├── common_properties.xacro
│ │ ├── my_robot.gazebo
│ │ └── turtlebot3_burger.urdf.xacro
│ └── worlds # world files
│ └── smallworld.world
└── teleop_twist_keyboard # teleop twist keyboard package
21 directories, 53 files
This project is developed in ROS Noetic which supports Turtlebot3. Install all turtlebot-related packages using the following command so that you don't have to do rosdep install
for every package.
sudo apt install ros-noetic-turtlebot3*
To launch the project, clone the github repository under src folder is your ros workspace by
git clone https://github.com/navoday01/home-service-robot.git
Build and source the workspace and then go to scripts directory
cd src/home-service-robot/robot_world/scripts
make shell scripts executable by
sudo chmod +x *.sh
To test the SLAM algorithm and create a new map of the environment, run:
./test_slam.sh
Run telop package to navigate through the environment by:
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
Once the house is fully explored, save the map with:
rosrun map_server map_saver -f <desired directory to save map>/<map name>
To test the navigation algorithm, run:
./test_navigation.sh
We will be using the already generated map and localize with AMCL. Press the 2D Nav Goal
button in Rviz and click somewhere on the map to command the robot to navigate there.
To simulate a full home service robot capable of navigating to pick up and deliver virtual objects, run:
./home_service.sh