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Autonomous Shelf Detection in a Mobile Robot using the Behavior Tree

rb1 demo

This project is to develop a complex behavior based on multiple simpler behaviors using the behavior tree. The behavior consists of

  1. detect a shelf anywhere in the warehouse
  2. get underneath the shelf and use the elevator to pick it up
  3. place the shelf at a desired location

Thanks to the BT.CPP and BehaviorTree.ROS2 libraries, the complex behavior can be achieved. This project is based on ROS2 Humble middleware.

For more details about what's the project and its challenges, please check out notebook

Software Architecture

Software Architecture

Dependencies

ROS2 Humble | Ubuntu 22.04 (Jammy) | CPU Architecture: amd64

Compile

Robot Simulation

cd {simulation workspace}/src
git clone -b simulation --recurse-submodules https://github.com/ptientho/RB-1-warehouse-navigation.git

Build the package

cd {simulation workspace}
colcon build

Project source codes

cd {ros2 workspace}/src
git clone -b main --recurse-submodules https://github.com/ptientho/RB-1-warehouse-navigation.git
colcon build

Build the package

cd {ros2 workspace}
colcon build

Web application

cd {webapp workspace}
git clone -b webapp --recurse-submodules https://github.com/ptientho/RB-1-warehouse-navigation.git

Run the application: simulation

Gazebo Simulation

rb1 sim

source ~/your-simulation-workspace/install/setup.bash
ros2 launch the_construct_office_gazebo warehouse_rb1.launch.xml

Navigation Server

ros2 launch path_planner_server navigation.launch.py

Rviz

ros2 launch path_planner_server rviz.launch.py

Shelf Servers

ros2 launch rb1_autonomy shelf_servers.launch.py

Autonomy Server

ros2 launch rb1_autonomy autonomy.launch.py

Web Application

cd ~/your-webpage-workspace/RB-1-warehouse-navigation/rb1_webapp/
python3 -m http.server 7000

In a new terminal, run

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

Run the application: real robot

Make sure to connect the real robot.

Navigation Server

ros2 launch path_planner_server navigation_real.launch.py

Rviz

ros2 launch path_planner_server rviz.launch.py

Shelf Servers

ros2 launch rb1_autonomy shelf_servers_real.launch.py

Autonomy Server

ros2 launch rb1_autonomy autonomy_real.launch.py

Web Application

cd ~/your-webpage-workspace/RB-1-warehouse-navigation/rb1_webapp/
python3 -m http.server 7000

In a new terminal, run

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

Groot2 Visualization

The robot operation is facilitated by Groot2 which turn behavior xml text into graphical and easy-to-read nodes. Download the installer from Groot2 installer. Open the project file inside Groot2 software and browse for a file name bt_real_project.btproj.

Full bt