Building-Service-Bot

This is a mini-project created to demonstrate a mobile service robot, capable of mapping its environment and autonomously navigating through it. It is capable of moving towards a certain goal, pick up an object, and drop it off at a certain other location.

Buildin-Service-Bot.mp4

Video URL

Steps involved in the implementation.

1. Driving around (with the help of the teleop_twist_keyboard package) through the environment, and scanning it using laser and RGBD camera.
2. The robot is able to localize itself, and the amcl package helps it in that (after having carefully tuned the AMCL parameters). AMCL, or Adaptive Monte Carlo Localization is a probabilistic localization system for a robot moving in 2D environment, and uses a particle filter approach to keep track of the robot's pose w.r.t. the environment.
3. It generates a static map of the environment, using RTAB-Map, i.e. the Real-Time Appearance-Based Mapping, which is an RGB-D SLAM approach, based on global loop closure detector, with real-time constraints. The package is: rtabmap_ros.
4. Next comes the navigation part. Here, the popular ROS package, move_base has been used, and here again, we have to carefully tune the move_base parameters so that the robot is able to move around in the environment properly. This node links together a global and local planner to navigate through and reach a goal in the environment.
5. Lastly, a node has been created in this project, which gives 2 locations to the robot to navigate to, step, by step demonstrating the 'service' feature of the robot. The robot travels to a location where a 'marker' is set (akin to an object to be picked up), and 'dropped' to the appropriate location by the robot.

Note

Before running the shell scripts, do:

catkin_make
source devel/setup.bash

from the catkin_ws directory.

For running the project

• Clone the repo.

git clone git@github.com:amanarora9848/Building-Service-Bot.git

• Navigate to the catkin_ws directory and do a catkin_make

cd catkin_ws
catkin_make

• Source setup.bash

source devel/setup.bash

• To run the SLAM script, enter:

./src/scripts/test_slam.sh

slam.mp4

• To run the Navigation script, enter:

./src/scripts/test_navigation.sh

• To run the script to perform object delivery service, enter:

./src/scripts/home_service.sh