Description

When a customer orders at a pizza place, the kitchen monitor displays the order number, table number, and order details. When the employee confirms, the table number is sent to the AMR bot. The AMR bot is in the Waiting state before receiving an order, and when the employee touches the Start button on the AMR bot's display, it starts driving to the predefined table coordinates. Once driving begins, the status changes to Moving, and after delivery is complete, it changes to Completed. Each time the status changes, it is displayed on the AMR bot's display.

Capture

Demo Video

pizza_servingbot_demo

How to build

cd ~/b3_ws
rm -rf ./install ./build ./log
colcon build 

source install/setup.bash

The order of execution

1. Running the API server

store order infomation and query DB

python3 api_server.py

2. Running Kitchen Node

Save order information to DB (API server operation), send ROS2 service request to kiosk. When [Cancel], execute CancelService, when [Complete], send table target location to AMR bot as service (GoalLoc).

ros2 run pizza_serving_bot kitchen 

3. Running Kiosk Node

Send a request to the ROS2 Order Service (OrderService) from the table, and publish a call to the employee topic (CallManager)

ros2 run pizza_serving_bot kiosk 

4. Running Amr Node

AMR bot displays status value, navigation to the target table, and returns to the original location when you press confirm after arrival.

ros2 run pizza_serving_bot amr