Welcome to the Home Service Robot project! For this project, your goal is to program a home service robot that will autonomously map an environment and navigate to pickup and deliver objects.
Let’s summarize what should be done in this project to simulate a home service robot
- Design a simple environment with the Building Editor in Gazebo.
- Teleoperate your robot and manually test SLAM.
- Create a wall_follower node that autonomously drives your robot to map your environment.
- Use the ROS navigation stack and manually commands your robot using the 2D Nav Goal arrow in rviz to move to 2 different desired positions and orientations.
- Write a pick_objects node that commands your robot to move to the desired pickup and drop off zones.
- Write an add_markers node that subscribes to your robot odometry, keeps track of your robot pose, and publishes markers to rviz.