HomeServiceRobot

Project Package Explained:

add_markers - includes 2 nodes: add_markers_node is for the home service function; add_markers is for create virtual object check.

pick_objects - allow robot to automatically navigate to the pickup zone and wait for 5 seconds then navigate to the dropoff zone.

slam_gmapping - mapping the world.

turtlebot_gazebo - simulate the turtlebot robot in predefined world.

turtlebot_interactions - Visualizing TurtleBot in RViz.

turtlebot_teleop - control the robot with keyboard.

How to use:

1. Clone the entire solution or download the files into local ROS workspace, for example ~/catkin_ws folder.

2. Please update the world file location and map file location in the shell script files: ~/catkin_ws/src/scripts/*.sh:

Replace the path after "export TURTLEBOT_GAZEBO_WORLD_FILE=" with your path of my.world file. You can find the file under ~/catkin_ws/src/map/

Replace the path after "export TURTLEBOT_GAZEBO_MAP_FILE=" with your path of map.yaml file. You can find the file under ~/catkin_ws/src/map/

3. Run "catkin_make" to make sure the project runs seccessfully.

4. Run "source devel/setup.bash".

5. Install Xterm by "sudo apt-get install xterm"

6. Run to test SLAM: "./src/scripts/test_slam.sh".

7. Run to test navigation: "./src/scripts/test_navigation.sh".

8. Run to test home service functions: "./src/scripts/home_service.sh".