DUSTBOT FINAL PROJECT.

The final goal of the project is to create a virtual robot (DustBot) that navigates an environment, locating and collecting trash. Using ROS 2 and custom services (SetDirection and LoadGarbage), the robot moves to random positions where trash is located and collects it. The system is designed to operate in a configurable grid size, with interaction between control and simulation nodes to manage movement and trash collection.

1. PROJECT STRUCTURE.

• world_node.py: This code defines the WorldNode in ROS 2, responsible for managing a robot on an NxN grid. It publishes the robot's position (/dustbot/global_position) and the garbage's position (/dustbot/garbage_position), while responding to services for moving the robot (/dustbot/set_direction) and collecting garbage (/dustbot/load_garbage). Once P garbage items are collected, the node automatically shuts down.

• robot_node.py: This code defines the RobotNode in ROS 2, responsible for controlling a robot that moves toward garbage positions published on /dustbot/garbage_position. The node calculates directions, updates the robot's position, and attempts to collect the garbage by interacting with services /dustbot/set_direction and /dustbot/load_garbage. It also ensures the robot stops once it has collected all designated garbage.

• SetDirection.srv: The SetDirection service allows the robot to receive a direction as a string (e.g., "Up", "Down") and move accordingly. The response indicates whether the direction was successfully set with a boolean success.

• LoadGarbage.srv: The LoadGarbage service attempts to collect garbage, returning a success boolean indicating whether the collection was successful. The message provides additional details about the result.

2. HOW TO RUN THE APPLICATION? 1. Open the terminal 2. Into the workspace, change the directory to dustbot_ws/src 3. Compile the packages with colcon build. 4. Configure the ROS2 environment after colcon build with source/install/setup.bash 5. Change the directory to dustbot_ws/src/dustbot/launch 6. Run the launch file with ros2 launch dustbot_launch.py N:__ P:__ (N*N grid, P picks).

(Este proyecto se realizo como evaluación final de la asignatura "ROBOT PROGRAMMING FRAMEWORKS AND IOT PLATFORMS" del Laurea Magistrale in Bionics Engineering impartida por la Università di Pisa.)