The Home Service Robot ROS project simulates a Turtlebot performing a task in a simple Gazebo environment. A marker is generated at a given pick-up location on the map and the robot navigates the environment to retrieve it and deliver it to another designated drop-off point, using Simultaneous Localisation And Mapping (SLAM).
This project is intended to be built within a catkin workspace. To build, clone this repo and ROS packages below into the catkin_ws/src folder and run catkin_make.
gmapping: https://github.com/ros-perception/slam_gmappingturtlebot_teleop: https://github.com/turtlebot/turtlebotturtlebot_rviz_launchers: https://github.com/turtlebot/turtlebot_interactionsturtlebot_gazebo: https://github.com/turtlebot/turtlebot_simulator
Run the test_slam.sh script to launch a simple Gazebo world, RViz and Teleop keyboard node. Drive the Turtlebot around the environment with i, j, l and m to populate the map with the RGB-D camera and lidar, then run $ rosrun map_server map_server map.yaml to save.
Run the test_navigation.sh script to launch the simple world and RViz. Test navigation works with the generated map by clicking on random waypoints with the 2D Nav Goal tool.
Run the home_service.sh script to run all nodes. A blue cuboid marker will be generated at a drop-off point and the robot will collect it and move it to a new drop-off location:
