RoboND-HomeServiceRobot

This is the project repository of the final project of udacity robotics software nano degree. The project is developed to simulate virtual turtle bot in a virtual world setup. Turtlebot moves to predefined pick up zone and after that it moves to predefined drop zone.

Results

This project is fully developed with gazebo simulator. Output is given below

Implementation

Shell scripts

Shell scripts are programmed to run multiple ros commands. Shell scripts are created as .sh file and change its execution type by chmod -x path_to_shell_script And it can be run using commands ./path_to_shell_script

World and map

Virtual world, that was develpoed for previous projects, is also used for this project. It is a customized virtual world that is developed in Gazebo simulator. Map file was developed using pgm_map_creator package 'https://github.com/udacity/pgm_map_creator'

Robot

Turtlebot is used for this project. Package used ca be found in this repository. https://github.com/turtlebot/turtlebot_simulator

Visualization

For visualizing results, default rviz configurations are implemented with simple modification. ROS package can be found under https://github.com/turtlebot/turtlebot_interactions

Keyboard interations

For SLAM testing, keyboard navigation is required. turtlebot_teleop package is used for this purpose. Robot can be easily navigated using keys.

SLAM algorithm

gmapping package is cloned for easy SLAM. Package url: https://github.com/ros-perception/slam_gmapping

Shell Scripts

All shell scripts can be found under path 'src/scripts/'

test_slam.sh -- For testing SLAM algorithm with keyboard manual navigation

test_navigation.sh -- For testing navigation by setting 2D goals in rviz.

pick_objects.sh -- for tesing pick objects node

add_markers.sh -- for testing virtual object appearences

home_service.sh -- Complete scripts for testing this project

Nodes

pick_objects

pick_objects c++ nodes is developed to navigate robot to the pick zone and drop zone. This node sends navigation goal positon to the ROS. It is further controlled with AMCL algorithm. package: pick_objects

add_markers

add_markers node creates virtual objects in the rviz for better visualization. A sphere shaped virtual object is displayed in the rviz visualization. For getting robot pose amcl_pose topic is subscribed. package: add_markers

Setup workspace

	sudo apt-get update && apt-get upgrade
	sudo pat-get install xterm
	cd path_to_cloned_repository
	cd src/scripts
	chmod -x path_to_required_shell_script.sh
	./path_to_required_shell_script.sh