Udacity Robotics Software Engineer Nanodegree project : Home Service Robot
The goal of this project is to program a robot than can autonomously map an environment and navigate to pick up and drop off virtual objects.
List of the steps in this project :
Update your system:sudo apt-get update
Install the ROS navigation stack:sudo apt-get install ros-kinetic-navigation
Create catkin workspace, if you haven’t already.For this project catkin_ws is used, if your workspace name is different, change the commands accordingly.
$ mkdir -p ~/catkin_ws/src$ cd ~/catkin_ws/src$ catkin_init_workspace$ cd ~/catkin_ws$ catkin_make
Clone the following repositories to catkin_ws/src:
$ cd ~/catkin_ws/src$ git clone https://github.com/ros-perception/slam_gmapping.git$ git clone https://github.com/turtlebot/turtlebot.git$ git clone https://github.com/turtlebot/turtlebot_interactions.git$ git clone https://github.com/turtlebot/turtlebot_simulator.git
Install package dependencies with rosdep install [package-name]
Copy content of this repository to catkin_ws/src
Catkin workspace should look something like this:
catkin_ws/src├── slam_gmapping # gmapping_demo.launch file│ ├── gmapping│ ├── ...├── turtlebot # keyboard_teleop.launch file│ ├── turtlebot_teleop│ ├── ...├── turtlebot_interactions # view_navigation.launch file│ ├── turtlebot_rviz_launchers│ ├── ...├── turtlebot_simulator # turtlebot_world.launch file│ ├── turtlebot_gazebo│ ├── ...├── World # world files│ ├── ...├── ShellScripts # shell scripts files│ ├── ...├──RvizConfig # rviz configuration files│ ├── ...├──wall_follower # wall_follower C++ node│ ├── src/wall_follower.cpp│ ├── ...├──pick_objects # pick_objects C++ node│ ├── src/pick_objects.cpp│ ├── ...├──add_markers # add_marker C++ node│ ├── src/add_markers.cpp│ ├── ...└──
Source and build the project:
$ cd ~/catkin_ws$ source devel/setup.bash$ catkin_make
To run home service robot navigate to ShellScripts directory and run./home_service.sh
After running you will see (int Rviz) robot picking up a virtual object from the pickup zone and dropping it off at the drop off zone.
