Home Service Robot (turtlebot)

This is proof of concept of a delivery robot. It is able to pick up/drop off a "simulated" package in a virtual environment.

This project simulates a home service robot. The robot picks up a simulated package in a virtual environment and then drops it in another location.

This project uses turtlebot as the robot, it simulates an environment in gazebo, and is able to pick/drop the package as a marker in rviz.

Requirements

Unfortunately, this project requires old versions of ROS and [therefore] old versions of Ubuntu:

• Ubuntu 16.04
• ROS Kinetic Kame
• xterm

How to run

1. Clone this package to your <ROS_workspace/src>
2. Compile:

catkin_make 

3. Source environment

source devel/setup.bash

4. Run home_service.

./src/home_service_robot/scripts/home_service.sh

This last step will load gazebo with the environment found here. It will load the first generation of the turtlebot, start AMCL localization, start RVIZ with everythin ready to visualize trajectory, and will trigger nodes pick_objects and add_markers.

This will make the turtlebot move to the lower right room to pick up the blue box:

And after 5 seconds it will move to the upper right room to deliver the blue box:

Other scripts

There are other scripts that allow to test functionality individually. All of them are located at scripts:

Script	Loads Gazebo world	Runs gmapping	Runs amcl	Loads RVIZ cfg	Adds markers	Picks objects
test_slam.sh	X	X
test_navigation.sh	X		X	X
pick_objects.sh	X		X	X		X
add_marker.sh	X		X	X	X
home_service.sh	X		X	X	X	X

Meta

Luis M. (@lemontyc)

Distriuted under the MIT License. See LICENSE for more information.

lemontyc@GitHub

This was the last project required to graduate the Udacity Robotics Software Engineer Nanodegree (2020) program.