PackBot: Autonomous Package Delivery Robot

About

This repo contains the code for our final project for CSCI-5551: Introduction to Intelligent Robotic Systems.
The contributors are Bharath Sivaram , Quinn Koenig, and Sowmiya Narayanan Govindaraj

PackBot_Run.mp4

Objective

In this project, the Turtlebot3 will be used to drop-off small labeled blocks from a single pick-up location to their respective drop-off points within a maze. We simulate a warehouse environment using a cardboard maze. The dropoff points are marked by ArUCo Markers. Once the robot recieves a package marked with a ArUCo marker at the pick-up point, it then navigates to the respective drop-off point by matching with the detected ArUCo ID.

Hardware

• TurtleBot3
  • RaspberryPi 3
  • Lidar
  • DYNAMIXEL Motors
  • OpenCR Board
• Logitech USB Webcam
• Laptop

Software

• ROS
• Python
• Ubuntu 20.04

How to Run

• First map the enironment using SLAM by tele-operating the TurtleBot .
• Make sure to save the map using the command rosrun map_server map_saver -f map
• Set the pick-up and drop-off points in the map manually.
• Each location was saved within a Python dictionary, and orientation is in quaternion form.
• Each of these locations would have ArUCo markers on the walls.
• Follow the README.md provided within aruco_detect to initialize the all the required nodes.

For more details regarding the inner workings, refer to PackBot_Report.pdf