Intelligent Robotics - Warehouse Automation

Project environment setup instructions

Assuming the initial setup of Ubuntu 20.04 LTS and ROS Noetic is done, for this warehouse automation project we are setting up the following packages:

1. Installing dependencies:

• Run the following commands in terminal

sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
  ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
  ros-noetic-rosserial-python ros-noetic-rosserial-client \
  ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
  ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
  ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
  ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers

sudo apt install ros-noetic-hls-lfcd-lds-driver
sudo apt install ros-noetic-dynamixel-sdk
sudo apt install ros-noetic-turtlebot3-msgs
sudo apt-get install ros-noetic-navigation

Note : Run the following commands in case on an error while running catkin_make in the subsequent steps:

sudo apt-get update
sudo apt-get install lsb-release
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install libignition-physics3-dev

2. Setting up package:

• Run the following commands in terminal

git clone https://github.com/raghuveerbhat/WarehouseAutomation_ROS.git
cd WarehouseAutomation_ROS
catkin_make

3. Verifying package install:

• Source the workspace by typing following commands and load the small warehouse world in gazebo simulation with following commands

source devel/setup.bash
roslaunch aws_robomaker_small_warehouse_world view_small_warehouse.launch

4. Launching turtlebot3 in the warehouse environment:

cd ~/catkin_ws/
source devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_world.launch

Note: Now you should be able to see the robot in the gazebo which has aws small warehouse world loaded in it.

5. Moving the robot in gazebo

• Run the following commands in terminal

cd ~/catkin_ws/
source devel/setup.bash
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Note: Press keys W,A,X,D robot will do the movements and S key to stop the action.

6. Building the map on RVIZ and saving it for future use

The map for the warehouse can be built by moving the robot around the environment. Run the following commands:

cd ~/catkin_ws/
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_slam turtlebot3_slam.launch

The map can be saved by executing the following commands in terminal

cd ~/catkin_ws/
rosrun map_server map_saver -f ~/map

7. Further resources to set up packages individually

• Setting up AWS Robomaker Small warehouse world (Guide link) and link
• Setting up Turtlebot3 (Guide link and link)
• Turtlebot3 repositories link and link

8. Launching turtlebot3 in the warehouse+aruco environment:

cd ~/catkin_ws/
source devel/setup.bash
export GAZEBO_MODEL_PATH= Here add the path to directory"gazebo_aruco_box-master"
roslaunch pf_localisation main.launch

9. TO DO

• Add Ground Truth poses
• Tune parameters for localization
• Add exploration package for mapping
• Tune rates for move base
• Clean and comment code
• Add config file
• Add aruco markers to gazebo world
• Add package for aruco detection and pose estimation, as well as localization using estimated poses