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Udacity Home Service Robot

Final home service robot project for the Udacity Robotics Software Engineer Nanodegree Program

Prerequisites

  • Gazebo >= 7.0
  • ROS Kinetic

Directory Tree

├───README.md
├───add_markers
│   ├───include
│   │   └───add_markers
│   └───src
├───add_markers_original
│   ├───include
│   │   └───add_markers_original
│   └───src
├───map
├───pick_objects
│   ├───include
│   │   └───pick_objects
│   ├───src
│   └───srv
├───res
├───rvizConfig
├───scripts
├───slam_gmapping
│   ├───gmapping
│   └───slam_gmapping
├───turtlebot
│   ├───turtlebot
│   ├─── ... 
│   └───turtlebot_teleop
├───turtlebot_interactions
│   ├───turtlebot_dashboard
│   ├─── ...
│   └───turtlebot_rviz_launchers
└───turtlebot_simulator
    ├───turtlebot_gazebo
    └─── ...
  • rvizConfig contains the configured rviz view for the project
  • slam_gmapping, turtlebot, turglebot_interaction and turtlebot_simulator are official ROS packages
  • scripts contains test and run scripts for the project

Build

This repository only represents the ROS package, therefore you need to create a catkin workspace.

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
git clone https://github.com/null-usr/home_service_robot.git

Install dependencies

rosdep -i install gmapping -y
rosdep -i install turtlebot_teleop -y
rosdep -i install turtlebot_rviz_launchers -y
rosdep -i install turtlebot_gazebo -y

Then build the workspace

cd ..
catkin_make

Run Scripts

cd src/scripts

From here, you can run

  • ./test_slam.sh

    • to test SLAM

  • ./test_localization.sh

    • to test localization

  • ./pick_objects.sh

    • to test robot movement to object locations

  • ./add_markers.sh

    • to test adding markers to the rviz scene

  • ./home_service.sh

    • to launch the full simulation of a robot moving to an object, picking it up, then dropping it elsewhere