A mobile robot with 3-R manipulator which can be teleoperated to extinguish fire. When it reaches the premises of fire, it will keep a 2m distance from the zone of hazard and the nozzle will point in that direction and extinguish the fire. Everything was designed from scratch, URDF, controller definition, teleoperation, and then automating it using a publisher script. In the gazebo simulation environment, walls were assumed to be fire, so a safe zone was defined which was 2 m away from the walls. So, basically, you can teleoperate the bot to the location of the fire, the moment it senses the wall(fire), it gave feedback about the red zone and the bot will take command over the teleoperation. It first will move at least 2 m away from the fire zone, and then points the nozzle (end effector) towards the fire, for a definite time and then again will give you the feedback once the fire is doused. The detection system was achieved by subscribing to the lidar topic, and callback function of the subscriber.
METHOD TO RUN THE PACKAGE
Extract the folder 'Fire_fighting_bot-main' and copy the folder 'fire_fight_1', which is inside src, to your catkin_ws/src
In your terminal go to your catkin_ws folder and type
Note: Source your catkin workspace (e.g. if catkin_ws is in your home directory, do source ~/catkin_ws/devel/setup.bash) optional: add this command to your .bashrc
After sourcing the ~/.bashrc, type
This will spawn the robot in Gazebo.
Open a new terminal and type
If the above command does not work, it is mostly because teleop.py is not an executable. Alternative: To make teleop.py an executable. Go to catkin_ws/src/fire_fight_1/src , and type
Repeat from Step 2.
Now, the teleop is running and you can press the mentioned keys to control the robot.
