Sepphod / udacity_homeservicerobot

Home Service Robot

Final project for Udacity's Robotics Software Engineer Nanodegree Program

Project goals

• Design an environment with the Building Editor in Gazebo to operate a turtlebot.
• Manually test SLAM by teleoperating the turtlebot.
• Use the ROS navigation stack
• Implement a pick_objects ROS node in C++ to control the robot to move to dedicated pickup and drop off positions.
• Implement an add_markers ROS node in C++ to subscribe the robot odometry and publish the pickup and drop off positions via markers in the visualization,
• Integrate the two ROS nodes to complete a home service robot

Directory Tree and contents

.
├── readme.md
├── catkin
├── CMakeLists.txt
├── src
	├── add_markers
	│   └── src
	│       └── add_markers.cpp
	│   ├──  ... ...
	├── config
	│   └── marker.yaml
	├── map
	│   ├── map.pgm
	│   └── _map.yaml
	├── pick_objects
	│   └── src
	│       └── pick_objects.cpp
	│   ├──  ... ...
	├── rvizConfig
	│   └── home_service_robot.rviz
	├── scripts
	│   ├── add_markers.sh
	│   ├── environment.bash
	│   ├── add_markers.sh
	│   ├── launch.sh
	│   ├── pick_objects.sh
	│   ├── test_navigation.sh
	│   └── test_slam.sh
	├── slam_gmapping
	├── turtlebot
	├── turtlebot_interactions
	|── turtlebot_simulator

This directory represents the main project's src folder structure with following contents

• add_markers - add marker C++ node
• config - configuration of dedicated pick-up and drop-off positions
• map
• pick_objects - pick-objects C++ node
• rvizConfig
• scripts
  • add_marker.sh - script to test marker
  • home_service_robot.sh - main script for the home service robot
  • pick_objects.sh - script to testing pick_objects
  • test_navigation.sh - script to test navigation
  • test_slam.sh - script for performing SLAM and preparing map
• slam_gmapping - official ROS package with gmapping_demo.launch file
• turtlebot - official ROS package with keyboard_teleop.launch file
• turtlebot_interactions - official ROS package with view_navigation.launch file
• turtlebot_simulator - official ROS package with turtlebot_world.launch file

Home-Service-Robot package

The goal was a home service robot which is capable of

• navigating to a given pick-up position to pick up virtual objects
• deliver the virtual objects to a given drop off position.

The communication between the responsible ROS nodes was established via the "/goal_to_reach" topic. The package can be launched using:

cd ~/catkin_ws/src/scripts
./home_service.sh