HomeServiceSim_usingROS

ROS project to practice Navigation in a Home Service Robot Simulation.

Intro:

In this project, the robot is performing Navigation and AMCL localization as it travels towards a yellow cube (Depicting a virtual Object). When the robot reaches the Pick Up Zone of the Cube, the cube disappears and the robot waits 5 seconds to simulate pick up time. Then the robot travels to the predetermined goal position and drops off the cube there (The cube will appear there instantly to simulate a drop off)

Staring Position:

After Dropping Off Yellow Cube:

In the above screenshot, you can see the yellow cube at the robot's position.

Built on:

ROS Kinetic & Ubuntu 16.04

Steps to Implement:

Have xterm terminal installed (sudo apt-get install xterm)

1. Create a Catkin Workspace and clone the individual folders of the repo inside of the 'src' folder.
2. Clone the following packages in the src folder :
3. http://wiki.ros.org/gmapping
4. http://wiki.ros.org/turtlebot_rviz_launchers
5. http://wiki.ros.org/turtlebot_gazebo
6. Change directory back to the catkin workspace and execute catkin_make
7. On the terminal itself, change to the scripts folder inside src.
8. chmod +x home_service.sh
9. ./home_service.sh
10. This command above will start the whole process and the last 2 terminals will inform you which zone the robot has reached.