diegoavillegasg / home-service-robot Goto Github PK

This project we've put all together since previous projects in Robotics ND. Since, building a world in gazebo, creating a map of it, test AMCL to localize a robot using particle filter. I have use my own robot to accomplish each of the tasks required. The simulation shows how the robot could be used to perform a common pick&place an object. In this project picking is not implemented.

1. Use the Building Editor tool in Gazebo to build a virtual environment.
2. Teleoperate your robot and test SLAM.
3. Use the ROS navigation stack to set 2D Nav Goals to your robot.
4. Write a pick_objects node that sends goals to ROS navigation stack.
5. Write an add_markers node to send virtual marks to map frame in rviz.

** Dependeces **

This repo includes official ROS packages that you can use in your own world and robot, but it's given for make easy to use with the well known turtlebot platform: gmapping, turtlebot_teleop, turtlebot_rviz_launchers, and turtlebot_gazebo.

gmapping: to perform SLAM and build a map of the environment with a robot equipped with laser range finder sensors or RGB-D cameras.

turtlebot_teleop: to control your robot using keyboard commands.

turtlebot_rviz_launchers: to load a very useful rviz configuration, that shows you the robot model, trajectories, map, particles of poses etc.

turtlebot_gazebo: to bring to life a turtlebot in gazebo.

** How to run it **

Clone this repo into your catkin_ws/src/ folder: git clone https://github.com/diegoavillegasg/home-service-robot

Build workspace: cd ~/catkin_ws/ catkin_make

Load current workspace vars: source dev/setup.bash

Move to scripts folder: cd src/scripts/

To try mapping: ./my_robot_test_slam.sh

To see the final result: ./my_robot_home_service.sh