udacity-project5

Udacity's nano degree program: Robotics Software Engineering

Project Title: Home Service Robot
Project Goals:

• Program a home service robot that will autonomously map an environment and navigate to pick up and deliver objects.

Setup and pull

mkdir -p $HOME/<user_workspace>/src
cd $HOME/<user_workspace>/src
git clone git@github.com:tolgakarakurt/udacity-project5.git

Requirements

Dependencies:

• gmapping
• turtlebot_gazebo
• turtlebot_rviz_launchers
• turtlebot_teleop

Official ROS Packages

• gmapping: slam_gmapping provides laser-based SLAM (Simultaneous Localization and Mapping). With the gmapping_demo.launch file, you can easily perform SLAM and build a map of the environment with a robot equipped with laser range finder sensors or RGB-D cameras.
• turtlebot_teleop: With the keyboard_teleop.launch file, you can manually control a robot using keyboard commands.
• turtlebot_rviz_launchers: With the view_navigation.launch file, you can load a preconfigured rviz workspace.
• turtlebot_gazebo: With the turtlebot_world.launch you can deploy a turtlebot in a gazebo environment by linking the world file to it.
• amcl: Performs Advanced Monte Carlo Localization, which uses particle filters to locate our robot.
• rviz: Deploy Rviz visualization tool

Build

• Open a terminal
• catkin_make

Action

cd udacity-project5/ scripts  
./home_service.sh

Package Directory

├── README.md 
├── add_markers  
│   ├── src/add_markers.cpp 
│   └──  ... ... 
├── my_robot
│   ├── maps
│   │   ├── mymap.pgm
│   │   ├── mymap.yaml
│   │   └──  ... ...
│   ├── rvizConfig
│   │   └── home_service.rviz
│   ├── worlds
│   │    ├── empty.world
│   │    └── myoffice4.world
│   └──  ... ...
├── pick_objects 
│   ├── src/pick_objects.cpp  
│   └──  ... ...  
├── scripts 
│   ├── add_marker.sh 
│   ├── home_service.sh 
│   ├── pick_objects.sh 
│   ├── test_navigation.sh 
│   └── test_slam.sh 
├── slam_gmapping 
│   ├── gmapping 
│   |── ... ... 
├── turtlebot 
│   |── turtlebot_teleop 
│   |── ... ... 
├── turtlebot_interactions 
│   |── turtlebot_rviz_launchers 
│   |── ... ... 
|── turtlebot_simulator 
│   ├── turtlebot_gazebo 
│   |── ... ... 

Tasks

1. Map environment (myoffice.world)
   • Import turtlebot into the environment. turtlebot_world.launch
   • Control the bot by using keyboard. keyboard_teleop.launch
   • Interface with SLAM package. gmapping_demo.launch
   • Visualize the map in rviz. view_navigation.launch
   • Replace turtlebot with personalized robot. my_robot.launch

YouTube upload:test_navigation.sh YouTube upload:home_service.sh