RoboND_P5_Home-Service-Robot

Final Robotic Software Engineer Nanodegree Project "Home Service Robot".
This project simulates a robot that picks up a virtual object at a certain position, transports it to the target position and places the object there again.

Certificate

Output Video

Packages

pick_objects

Moves robot from to pickup zone and publish the DO_PICKUP action on /my_robot/action_publisher topic.
Moves robot to dropoff zone and public the DO_DROPOFF action on /my_robot/action_publisher topic.

add_markers

Subscribes the /my_robot/action_publisher topic. Views a marker on the pickup zone, hides the marker on DO_PICKUP and view the marker in the dropoff zone after receiving DO_DROPOFF.

Third Party

gmapping
With the gmapping_demo.launch file, you can easily perform SLAM and build a map of the environment with a robot equipped with laser range finder sensors or RGB-D cameras.

turtlebot_teleop
With the keyboard_teleop.launch file, you can manually control a robot using keyboard commands.

turtlebot_rviz_launchers
With the view_navigation.launch file, you can load a preconfigured rviz workspace. You’ll save a lot of time by launching this file, because it will automatically load the robot model, trajectories, and map for you.

turtlebot_gazebo
With the turtlebot_world.launch you can deploy a turtlebot in a gazebo environment by linking the world file to it.

Steps to launch the simulation

Step 1 Update and upgrade the Workspace image

$ sudo apt-get update
$ sudo apt-get upgrade -y

Step 2 Clone the lab folder in /home/workspace/

$ cd /home/workspace/
$ git clone https://github.com/tobiassteidle/RoboND_P5_Home-Service-Robot

Step 3 Compile the code

$ cd /home/workspace/RoboND_P5_Home-Service-Robot/catkin_ws
$ catkin_make

Step 4 Source ROS in this workspace

$ source devel/setup.bash

Step 5 Run the Simulation

There are several ways to start the simulation.

Testing SLAM

$ cd /home/workspace/RoboND_P5_Home-Service-Robot/catkin_ws
$ ./src/scripts/test_slam.sh

Testing Navigation and Localisation

$ cd /home/workspace/RoboND_P5_Home-Service-Robot/catkin_ws
$ ./src/scripts/test_navigation.sh

Testing Service Robot

Pickup and Dropoff Zone location is configured in src/params/parameters.yaml.
The Map is in the src/map directory.
RVIZ configuration is in src/rvizConfig/rvizConfig.rviz.

$ cd /home/workspace/RoboND_P5_Home-Service-Robot/catkin_ws
$ ./src/scripts/home_service.sh