Project 5: Home Service Robot

Directory Structure

.myrobot_ws/ 
    └── src/
         └── my_robot/
                ├── config/
                │     ├── robot.rviz
                │     ├── base_local_planner_params.yaml
                │     ├── costmap_common_params.yaml
                │     ├── global_costmap_params.yaml
                │     └── local_costmap_params.yaml
                ├── images/
                │     ├── Home_Service_Robot.gif
                │     └── navigation_testing.png
                ├── launch/
                │     ├── amcl.launch
                │     ├── gazebo.launch
                │     ├── gmapping.launch
                │     └── world.launch
                ├── maps/
                │     ├── final_map.pgm
                │     └── final_map.yaml
                ├── materials/
                │     └── textures/
                │          └── realsense_diffuse.png
                ├── meshes/
                │     ├── hokuyo.dae
                │     └── realsense.dae
                ├── rviz_config/
                │     ├── gmapping.rviz
                │     ├── Home_Service_Robot.rviz
                │    └── navigation.rviz
                ├── scripts/
                │     ├── add_markers.sh
                │     ├── Home_Service_Robot.sh
                │     ├── pick_objects.sh
                │     ├── test_navigation.sh
                │     └── test_slam.sh
                ├── src/
                │     ├── add_markers_alone.cpp
                │     ├── object_marker.cpp
                │     ├── pick_objects_alone.cpp
                │     └── pick_objects.cpp
                ├── urdf/
                │     ├── colors.xacro
                │     ├── my_robot.gazebo
                │     └── myrobot.urdf.xacro
                ├── worlds/
                │     └── arche.world
                ├── CMakeLists.txt
                ├── package.xml
                └── README.md

The goal of this project is to program a robot that can take the map generated earlier, localize itself in that map, and navigate the robot to pick up and drop off virtual object. Here is a list of steps undertaken to accomplish that goal:

• Build a simulated world in Gazebo building editor.

• Build a map of the environment using gmapping.

• Use Adaptive Monte Carlo Localisation (AMCL) to detect the robot position within the known map.

• Use the ROS move_base library to plot a path to a target pose and navigate to it.

• Creating a node that sends to the robot a pick-up and drop-off locations.

• Creating a node that subscribes to the robot's odom, simulates virtual object pick-up, and drop-off using markers.

  

About the project

The mobile robot begins by driving around and scanning the area using a lidar to generate a static map of the environment. With this map in hand, it utilizes odometry and laser data to determine its position through adaptive Monte Carlo Localization (AMCL). When given a navigation goal, the robot plans its path using Dijkstra's algorithm and then navigates to the specified goal.

Description

The project consists of the following parts:

1. A Gazebo world and a mobile robot.
2. ROS packages: map_server, amcl, move_base, slam-gmapping and teleop_twist_keyboard.

Prerequisites

1. ROS (noetic), Gazebo on Linux
2. CMake & g++/gcc, C++11
3. Install xterm sudo apt-get install xterm
4. Install some dependencies

$ sudo apt-get update && sudo apt-get upgrade -y
$ sudo apt-get install ros-noetic-map-server
$ sudo apt-get install ros-noetic-amcl
$ sudo apt-get install ros-noetic-move-base
$ sudo apt-get install ros-noetic-slam-gmapping

Build and Launch

1. Clone the project

$ git clone https://github.com/Ahmed-Magdi1/Home-Service-Robot.git
$ cd Home-Service-Robot

2. Build the project

$ catkin_make

3. Run available scripts to launch

$ source devel/setup.bash
$ chmod u+x ./src/my_robot/scripts/Home_Service_Robot.sh 
$ ./src/my_robot/scripts/Home_Service_Robot.sh 

Note: To regenerate new map, close all ROS terminals and run the test_slam.sh script again. When you are done, with all terminals open execute

rosrun map_server map_saver -f <map_name>

Then, replace:

1) In thw world launch file:

<arg name="world" default="$(find my_robot)/worlds/<map_name>.world"/> in the launch/world.launch with the newly created map <map_name>.

2) In the amcl launch file:

<arg name="map_file" default="$(find my_robot)/map/<map_name>.yaml"/> in the launch/amcl.launch with the newly created map <map_name>.

Navigation Testing Instructions

To test the navigation functionality, follow these steps:

$ source devel/setup.bash
$ chmod u+x ./src/my_robot/scripts/test_navigation.sh
$ ./src/my_robot/scripts/test_navigation.sh 

Once the script is running, send a 2D Nav Goal in rviz to verify the navigation performance.