Home Service Robot

The aim of the project is to program a robot than can autonomously go to pick up zone to take virtual object and go to drop off zone to leave that object.

Service robot is working

Installations

sudo apt-get install ros-melodic-turtlebot3*
sudo apt-get install ros-melodic-slam*
sudo apt-get install ros-melodic-navigation

Packages

• service_robot: Which includes turtlebot3 launch files, 2D map and rviz configuration.
• pick_objects: Which interacts with move_base action server/client.
• add_markers: Which creates visualization marker.

Nodes

• map_server: Which publishes /map topic.
• move_base: Which subscribes to /map, /tf, /scan, /odom topic and publishes /cmd_vel topic.
• amcl: Which subscribes to /scan topic and publishes /tf topic.
• pick_objects: Which subscribes to /move_base/action_topics topic and publishes /goal_reached topic.
• add_markers: Which subscribes to /goal_reached topic and publishes /visualization_marker topic.

Rosgraph of the project

How to use

Configure turtlebot3 model in .bashrc file

export TURTLEBOT3_MODEL=waffle

For start robot

sh RoboND_P5_Home_Service_Robot/src/service_robot/scripts/home_service.sh