nd209-home-service-robot

This is a ROS project, part of the Udacity Robotics Nanodegree program. This was developed under ROS Kinetic. This project simulates a home service robot, where the turtlebot is used to model the robot. At the start of the simulation, the robot is given a pose estimate similar to the "2D Pose Estimate" function in RViz, through roscpp.

Two ROS nodes were developed.

1. pick_objects: This node sends pose goals to the robot to pick-up a cube object and subsequently drop it at a different goal. The act of sending the goal poses is simalar to the "2D Nav Goal" function in RViz, but through roscpp.
2. add_markers: This simulates the object to be transferred in RViz.

Build

Go to your catkin workspace:

cd /path/to/catkin_ws

Clone the repository and run

git submodule init
git submodule update
catkin_make
source devel/setup.bash  # or whatever your environment script is

Run

A script is written to launch everything in xterm instances. Gazebo, AMCL and RViz standard packages are launched. The two ROS nodes developed in this project are also launched.

./src/home_service_robot/scripts/home_service.sh

It is important to execute the script as shown above, as the yaml, map and world files are referenced relatively from the catkin workspace folder.