This project seeks to program a Mobile Service Robot in ROS capable of escorting a visitor to a specified room in Bush House. Please see the instructions.pdf file for how to run this code. Below are some videos of the robot in action:
Hardware
A video of the Turtlebot from start up. Footage depicts the initial robot localization spin and the Turtlebot going to a lobby goal and a north wing goal on the 7th floor. Available Here
A video of the Turtlebot performing an escort to 701N from the 7th floor lobby. Available Here
A video demonstrating the set_map_filename service on the Turtlebot changing from the 6th floor to the 7th floor. Available Here
A video of the Turtlebot performing an escort from the 7th floor lobby to the 7th floor Men's Toilets. Available Here
A video demonstrating Turtlebot entering an exiting the elevator. Additional help was needed to keep the elevator open as this was being filmed. Available Here
Simulation
A video demonstrating the Turtlebot's recovery behaviors. Available Here
A video demonstrating the Turtlebot's behaviour upon failing to complete an instruction. Failure is simulated in this demonstration by lowering the actionTime to 3 seconds and therefore only allowing the Turtlebot 3 seconds to reach a goal. Available Here
A video demonstrating the Turtlebot on the 7th floor receiving an invalid room, performing a visitor escort to the Women's Toilet, and performing a visitor escort to room 703N. Available Here