Home-Service-Robot

Using Gazebo, Rviz, and ROS

Setting up the enviroment:

For this project the following set up was used:

• Ubuntu 16.04 LTS OS
• Ros kinetic
• Gazebo 7.0.0
• Rviz 1.12.17

Installation steps:

• Clone this repository to your home directory:

$ git clone https://github.com/AndresGarciaEscalante/Home-Service-Robot.git

• Install xterm:

$ sudo apt-get install xterm

• Review the dependecies of the Packages using the rosdep command.

Launch the Schell Scripts

• To launch the test_slam.sh file run the following commands:

$ source devel/setup.bash
$ ./src/shell_scripts/test_slam.sh 

• To launch the test_navigation.sh file run the following commands:

$ source devel/setup.bash
$ ./src/shell_scripts/test_navigation.sh

• To launch the pick_objects.sh file run the following commands:

$ source devel/setup.bash
$ ./src/shell_scripts/pick_objects.sh 

• To launch the home_service.sh file run the following commands:

$ source devel/setup.bash
$ ./src/shell_scripts/home_service.sh

Project Description

turtlebot Package

It provides information of the turtlebot model such as the URDF, Gazebo, and other related files and functions like the teleoperation.

For more detailed information please refere to the following link: turtlebot

turtlebot_simulator Package

The main purpose of this package is to put together the simulated world and the robot model in the gazebo environment. It has many launch files such as the amcl.launch, gmapping.launch, and turtlebot.world.launch.

For more detailed information please refere to the following link: turtlebot_simulator

turtlebot_interactions Package

It displays the information from topics used in the turtlebot_simulator Package using Rviz. It also stores Rviz configuration files.

For more detailed information please refere to the following link: turtlebot_interactions

slam_gmapping Package

The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

For more detailed information please refere to the following link: slam_gmapping

pick_objects Package

This package provides the Pick up and Drop Off positions to the turtlebot and also applies Path Planning to reach those points using the Navigation Stack.

For more detailed information please refere to the following link: pick_objects

add_markers Package

It creates virtual objects on the desired positions in the simulated environment. It also provides the communication with the pick_objects Package to simulate the Pick up and Drop Off the virtual object.

For more detailed information please refere to the following link: add_markers

Project Outcome

The project implements the translation of a virtual cube from a Pick Up location to a Drop Off location in Autonomous mode. All the Schell Scripts provide a continous progress of the task as shown bellow:

test_slam.sh

Implements a SLAM to the simulated Gazebo environment.

test_navigation.sh

Applies path planning using the Rviz tool 2D Navigation.

pick_objects.sh

Applies path planning by executing the pick_objetcs.cpp from the Pick Up location to the Drop Off location.

home_service.sh

Applies path planning from the Pick Up location to the Drop Off location and also picks up and drops the virtual box respectively.

Important: Check full video of the home_service Project

Future Improvements

• Replace the Turtlebot robot model by my_robot model.