Home_Service_Robot

Description

This project contains a home service robot capable of executing SLAM, as well as navigating to pre-defined goal points to pick up/drop off objects (cube).

Methodology

Concepts explored in this project:

• Gmapping RGB-D SLAM
• ROS navigation stack
• AMCL

Getting Started

To get started, you need to have ROS-Noetic.

First, create your own catkin workspace and clone this repository under src folder

$ mkdir -p catkin_ws/src && cd catkin_ws/src
$ catkin_init_workspace

Next, compile all the ROS packages under the root directory:

$ catkin_make
$ source devel/setup.bash

And navigate to the scripts directory:

$ cd src/scripts

Part 1: SLAM

The first thing the robot can do is SLAM. To perform SLAM, run the test_slam.shscript:

$ ./test_slam.sh

To operate the robot, click on the window for the keyboard_teleop node, and follow the commands there. As the robot moves around the world, the map will begin to appear in Rviz.

Save the map using command " rosrun map_server map_saver -f mymap " with name of map = mymap

** Mapping using GMapping **

Part 2: Navigation

The next task for the robot is navigation. To test the robot's navigation, run the test_navigation.sh script:

$ ./test_navigation.sh

In Rviz, Click the "2D Nav Goal" button and click anywhere on the map to command the robot.

Part 3: Home Service

To move the robot to pre-difined points, run the home_service.sh script:

$ ./home_service.sh

An object (green cube) will show up in Rviz at pick up location. The robot will navigate to the object and then to the drop off location.