Home Service Robot

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

Directory Tree

.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

Turtlebot3 Package

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*

Launch the Project

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

SLAM

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>

Navigation

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.

Home Service

To simulate a full home service robot capable of navigating to pick up and deliver virtual objects, run:

./home_service.sh