Home Service Robot

References

This project utilizes the following ROS packages, cloned all of them on July 14, 2018.

gmapping turtlebot_teleop turtlebot_rviz_launchers turtlebot_gazebo

Package Tree

    ├──                                # Official ROS packages
    |
    ├── slam_gmapping                  # gmapping_demo.launch file
    │   ├── gmapping
    │   ├── ...
    ├── turtlebot                      # keyboard_teleop.launch file
    │   ├── turtlebot_teleop
    │   ├── ...
    ├── turtlebot_interactions         # view_navigation.launch file
    │   ├── turtlebot_rviz_launchers
    │   ├── ...
    ├── turtlebot_simulator            # turtlebot_world.launch file
    │   ├── turtlebot_gazebo
    │   ├── ...
    ├──                                # Your packages and direcotries
    |
    ├── World                          # world files
    │   ├── ...
    ├── ShellScripts                   # shell scripts files
    │   ├── ...
    ├──RvizConfig                      # rviz configuration files
    │   ├── ...
    ├──wall_follower                   # wall_follower C++ node
    │   ├── src/wall_follower.cpp
    │   ├── ...
    ├──pick_objects                    # pick_objects C++ node
    │   ├── src/pick_objects.cpp
    │   ├── ...
    ├──add_markers                     # add_marker C++ node
    │   ├── src/add_markers.cpp
    │   ├── ...
    └──

Launch file

$ sudo apt-get install xterm

Create launch.sh file with the following content

#!/bin/sh
xterm  -e  " gazebo " &
sleep 5
xterm  -e  " source /opt/ros/kinetic/setup.bash; roscore" &
sleep 5
xterm  -e  " rosrun rviz rviz"

Needs to have run permissions.

$ chmod +x ~/catkin_ws/src/launch.sh

Run launch.sh to test Gazebo and RViz are working.

$ ~/catkin_ws/src/launch.sh

Install Packages

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ..
$ catkin_make
$ sudo apt-get update
$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-perception/slam_gmapping
$ git clone https://github.com/turtlebot/turtlebot
$ git clone https://github.com/turtlebot/turtlebot_interactions
$ git clone https://github.com/turtlebot/turtlebot_simulator
$ cd ~/catkin_ws/
$ source devel/setup.bash
$ rosdep -i install gmapping
#All required rosdeps installed successfully
$ rosdep -i install turtlebot_teleop
#All required rosdeps installed successfully
$ rosdep -i install turtlebot_rviz_launchers
#All required rosdeps installed successfully
$ rosdep -i install turtlebot_gazebo
#All required rosdeps installed successfully
$ catkin_make
$ source devel/setup.bash

Testing SLAM

Sending parameter with roslaunch may cause error.

$ roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=~/catkin_ws/src/worlds/u.world

Caused following error

terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)

Therefore, the turtlebot_world.launch file was altered to accept u.world as the default world file.

test_slam.sh file content:

#!/bin/sh
#xterm  -e  " roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=~/catkin_ws/src/worlds/u.world " &
xterm  -e  " roslaunch turtlebot_gazebo turtlebot_world.launch " &
sleep 3
xterm  -e  " roslaunch turtlebot_gazebo gmapping_demo.launch " &
sleep 3
xterm  -e  " roslaunch turtlebot_rviz_launchers view_navigation.launch " &
sleep 3
xterm  -e  " roslaunch turtlebot_teleop keyboard_teleop.launch "

Needs to have run permissions.

$ chmod +x ~/catkin_ws/src/test_slam.sh

Run test_slam.sh to test slam is working, it requires manual movement of the robot.

$ ~/catkin_ws/src/test_slam.sh

Wall Follower

Needs to have run permissions.

$ chmod +x ~/catkin_ws/src/wall_follower.sh

Run wall_follower.sh to autonomously navigate and create map.

$ ~/catkin_ws/src/wall_follower.sh

Test Navigation

Sending map_file parameter caused file not found error. Therefore, amcl_demo.launch file changed to accept uamp.yaml file as the default map.

$ roslaunch turtlebot_gazebo amcl_demo.launch map_file:=~/catkin_ws/src/worlds/umap.yaml

Needs to have run permissions.

$ chmod +x ~/catkin_ws/src/test_navigation.sh

Run test_navigation.sh to test navigation is working.

$ ~/catkin_ws/src/test_navigation.sh

Pick Objects

Needs to have run permissions.

$ chmod +x src/pick_objects.sh

Run pick_objects.sh to run two step navigation.

$ ~/catkin_ws/src/pick_objects.sh

Add Markers

Needs to have run permissions.

$ chmod +x src/add_markers.sh

Run add_markers.sh to add and remove a marker on the pick up and drop off locations.

$ ~/catkin_ws/src/add_markers.sh

Note: The last version works but not as the Project part 11 Modeling Virtual Objects, since the logic has changed, the robot is required to reach to the marker to continue.

Home Service

Needs to have run permissions.

$ chmod +x src/home_service.sh

Run home_service.sh to pick and drop marker to specified locations.

$ ~/catkin_ws/src/home_service.sh

Results

Map

Start

Pickup

At Pickup Location Before Picking up RViz

At Pickup Location After Picking up RViz

At Pickup Location Gazebo

Drop off

At Drop off Location RViz

At Drop Off Location Gazebo