Home_Service_Robot

This repository containes launch files, shell scrips and external ros packages to perform mapping, localization, navigation & path-planning in gazebo simulation which collectively represents Home_Service_Robot project from Udacity ND: Robotics Software Engineer

tested with ros melodic on ubuntu 18.04

Clone

use --recursive option while clonning to get other external repositories

cd ~/catkin_ws/src
git clone --recursive https://github.com/imkishan96/Home_Service_Robot.git

Build

cd ..
catkin_make
source devel/setup.bash

Prepare

install xterminal if you don't have already

sudo apt-get install xterm

go to scripts dir & turn scripts into executable with chmod +x

roscd home_service_robot
cd ../scripts
chmod +x test_slam.sh test_navigation.sh pick_objects.sh add_markers.sh home_service.sh 

Scripts

test_slam

This script will launch turtlebot3 in the gazebo environment along with gmapping node rviz and teleop keyboard. execute test_slam.sh shell script

roscd home_service_robot
cd ../scripts
./test_slam.sh

click on the last terminal to teleoperate the robot and map the world, move around slowly to get an accurate map. once satisfied export the map using map_server node. (it's not necessary to perform mapping, this map is already available in the map dir)

rosrun map_server map_saver -f map1

test_navigation

This script will launch turtlebot3 in the gazebo world along with map_server, amcl, and move_base node. as a result, the robot can localize and navigate its self on the map generated from the test_slam script.

./test_navigation.sh

use 2D nav goal from rviz and send goal for the robot.

pick_objects

This script in addition to the test_navigation will launch the pick_objects node which will send multiple 2D NAV goal locations to the navigation stack to simulate pick up and drop-off motion.

./pick_objects.sh

add_markers

This script will publish markers on the rviz to simulate the virtual object being picked up from a location and dropped off after 5 sec to the dropoff zone

./add_markers.sh

home_service

This final script will bring all together and simulate the robot picking up and droping off the virtual part while localizing and navigating through the world.

./home_service.sh

debug

if roscore is up inbetween running two scrips make sure to clear ros param server