shivangg / home_service

A home service robot running on ROS

The home service robot

Checkout the YouTube Video of the project reaching to the designated pickup and drop off zones.

Step 1. Add Official ROS packages

• SLAM_gmapping
• Turtlebot
• Turtlebot_navigation
• Turtlebot_simulator
• Turtlebot_interactions

Step 2. Custom U World

• Simple U model and save it in a Gazebo world.
• Add simple U world for SLAM.

Step 3. Wall_follower node

• Made a wall_follower package
• Add C++ code in src/wall_follower.cpp
• Edited CMakeLists.txt. Add rule for compiling wall_follower node

Step 4. Mapping the Simple U world

• reduced the linearUpdate and angularUpdate
• increased the minimunScore to a large value. This prevented the jumps from the robot for large feature poor environments.
• Save the map file in World directory.

Step 5. Navigation

• AMCL: Given the right path for the map file in World to the map server for AMCL.

Step 6. Pick objects Package

• Create a pick_objects package for commanding the robot to go to pickup and drop-off zones.
• Add C++ code in the src/pick_objects.cpp
• Edited CMakeLists.txt. Add rule for compiling pick_objects node

Step 7. Add markers

• Create a add_markers package for commanding the robot to go to pickup and drop-off zones.
• Add C++ code in the src/add_markers.cpp to display the visual markers in RViz.
• Edited CMakeLists.txt. Add rule for compiling add_markers node.

Step 8. Adding virtual object

• Published virtual object when the robot reaches the pickup and drop point.

To implement this, a new parameter zone was set.

• Setting the parameter server when reaching pickup and drop zone.

ros::NodeHandle n;
n.setParam("zone", "pick");

The value of the zone parameter was checked in the add_markers node and when in a zone, the marker was published in that zone.