Navigation Project Home Service Robot

This project simulates a home service robot picking up an object at a pickup location and dropping it off back at it's starting location.

Project Video

https://youtu.be/ES9FmUxZa_A

Navigation Process

Main work

• Build Gazebo world
• Deploy turtlebot
• Build environment map using SLAM gmapping
• Integrating ROS node publishing pickup and dropoff locations with navigation
• Integrating ROS node publishing interactive "package" markers in Gazebo
• Launching project through shell scripts

Instructions to launch

• Requires ROS installation
• Create catkin_ws and clone /src folder contents into /src directory of workspace
• Build cakin_ws
• Source ROS environment
• Launch home_service.sh from /shellScripts directory
• Robot navigation executes automatically

Optional instructions

• Create the room map from scratch before launching navigation
• Launch test_slam.sh
• Build map by controlling robot with keyboard_teleop terminal
• Additionally launch save_map.sh script after building complete map
• In /src/world/ rename newMap.yaml and newMap.pgm to "MyFlat", replace existing files in world/MyFlat folder
• Edit myFlat.yaml file: replace pgm directory with name of pgm file only (no directory needed)
• Follow instructions to launch section

Results

Overview:

Built 2D Map:

Localization and Navigation: