Home service Robot is a robot simulation able to perform autonomous task as mapping the enviropment, localization, navigation, obstacle avoidance..ect. for the main objective for the robot is to perform a pickup - dropoff task inside a enviropment using ROS.

Green box (Rviz Mark) will apear inside the building, indicating a pickup area. The robot mission is to travel to the pickup area and simulate a pickup operation of 5 sec. after this time, a blue box appears indication the dropoff area, then robot will travel to the dropoff area to simulate dropoff operation.

In order to complete the simulation:

• The robot is deployed in a simulated world.
• The robot uses sensors (Laser scaner) to gather information about its sorroundings.
• The robot can use the gathered exploration information to generate a map of the world.
• The robot can navigate inside the world planning its path using the generated map.

Timeline:

• The robot recives a pickup mark coordanates, coordanates in the world.
• The robot autonomously travels to the mark using the generated map, localization and navigations modules.
• The robot arrives to the pickup mark and waits for delivery orders.
• The robot recieves a delivery mark coordinates and plans its navigations to it.
• The robot arrives to the delivery mark and gets a : mission acomplished!!.

Robot Operation Packages: The robot pickup and delivery process is accomplished by add_markers and pick_objects packages; the firsts sets the marks for the robot to travel to, and the second commands the robot to travel to this marks.

Everytime an order is ready for delivery, the package publishes a message with the mark id for the robot to pickup, process as:

• The marker should initially be published at the pickup zone.
• 5 seconds after the robot arrives to the pickup marker, mark is hidden.
• Then after another 5 seconds it should appear a mark in the drop off zone.
• After robot arrives to the drop off mark, the mark should be hidden.
• Robot should then go back to the wait zone while subscribing to get new mark id.
• Proccess continues with a new pickup mark.

Commands the navigation and path planning for the robot by generating the actual goal for the robot movement.

• The robot stay in a waiting state/ waiting area, while subscribed to marks channel; waits for a new order to come.
• The robot sees a new mark id Msg and sends request to the service markupdate to get this order info.
• The robot gets order information if order is adjudicated to the robot.
• The robot moves to the pickup area, shown with a green pickup mark.
• Ones the robot reach the pickup mark, the robot sends msg info to the service update marks, the response is the dropoff coordinates.
• Ones the robot reach the dropoff mark, the robot sends another msg to the service update to indicate is arrival.
• Ones the dropoff is complete, the robot returns to waiting state and lisen for new orders to come.

/add_markers/orders_update

• Server (add_markers.cpp): keep track of the delivery orders states by updating the marks.
• Client (pick_objects.cpp): Use this service to retrieve coordinates each time it accomplished a goal.

add_markers/orders:

• Publisher (add_markers.cpp): Publish Markers id, simulating Orders, ready for pickup-dropoff.
• Subscriber(pick_objects.cpp) When robot is waiting or last pickup-dropoff misssion is finish, robot subscribe to get a new delivery Orders. When order/marker id is received, robot unsubscribe from channel. this is intended in case, more than one robot is used.

• map: Inside this directory, you will store your gazebo world file and the map generated from SLAM.
• scripts: Inside this directory, you’ll store your shell scripts.
• rvizConfig: Inside this directory, you’ll store your customized rviz configuration files.
• pick_objects: You will write a node that commands your robot to drive to the pickup and drop off zones.
• add_markers: You will write a node that model the object with a marker in rviz.

• gmapping: With the gmapping_demo.launch file, you can easily perform SLAM and build a map of the environment with a robot equipped with laser range finder sensors or RGB-D cameras.
• turtlebot_teleop: With the keyboard_teleop.launch file, you can manually control a robot using keyboard commands.
• turtlebot_rviz_launchers: With the view_navigation.launch file, you can load a preconfigured rviz workspace. You’ll save a lot of time by launching this file, because it will automatically load the robot model, trajectories, and map for you.
• turtlebot_gazebo: With the turtlebot_world.launch you can deploy a turtlebot in a gazebo environment by linking the world file to it.
• Move Robot Package: Robot uses move_base package to set destination coordinates.

Robot navigation goals are set in the script, where multiple goals can be set. Also, turtlebot_teleop package is present, so the robot can be operated manually with the keyboard or similar.

Run the following code to download, install and run the code

git clone https://github.com/milekium/homeServiceRobot.git
cd homeServiceRobot
source env.sh
catking_make
./src/scripts/home_service.sh

After building the code, you can run partials of the code, or test by runing the scripts inside the folder scr/scripts.