Medi Bot

Repository for Mobile Robot by MARS, capable of autonomous navigation and transfer of goods in a high medical-risk environment, thus minimizing human to human interaction.

Key Feature:-

• Autonomous robot with medical items carrying capacity in highly contagious medical conditions.
• Uses SLAM and navigation techniques to map/localize and travel in hospital/similar conditions.
• Interaction with environment (lifts) and people via Iot protocols and UI mounted on the robot respectively (under work).
• Self sanitizes on Auto-Sanitization stations after custom-set iterations (under work).

Electro-mechanical design:

• MediBot Chassis.

ROS Packages:

• Robot package
• Line Follower package
• Navigation Stack package

robot

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• This package contains robot URDF, worlds, maps for navigation.

Setup and launching the simulation environment:-

• Clone the repo, build in your preferred system and source (source devel/setup.bash) the workspace

• Command roslaunch robot robot.launch will launch the world with robot in a gazebo world (suitable for easier time with SLAM and navigation) and planning scene in RViz with TF, camera, robotmodel already set in it.

line_follower

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• Contains node line_follower to follow a black line on a white background by using camera stream via sensor_msgs messages (No openCV).
• line_follower.launch file launches the code for line following, but does not contain the LFR arena itself.

Steps to add arena given in repository or any other arena made by someone else.

• Add the models folder to your gazebo path (one of the possible pre-set path is /home/user/.gazebo/models).
• After gazebo environment is launched, add your arena from insert option and delete the existing ground plane.

nav_stack

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• This package contains all the files related to ros naviagtion stack used for our robot.
• Contains all costmaps and AMCL parameters.
• After robot is lauched, command roslaunch robot robot_navigation.launch will start the ros navigation stack and allows the robot to be controlled via waypoints or simple goals.

Prerequisites

• C++14
• python 2.x
• Raspberry pi 3B (setup given below)
• ROS Melodic

Note: Hardware prerequisites mentioned in xyz section.

Setup

• Raspi + OS setup

Setting Up CPU

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Installing Ubuntu and ROS on Raspberry pi

1. Download the Ubuntu image for raspberry pi 3.
2. Flash the image with preferable software.
3. Follow the standard ARM installation instructions from ROS Wiki to install ROS Melodic.

Installing basic tools and setting them up

sudo apt-get update
sudo apt-get upgrade
sudo apt autoremove