bigok666/catkin_ws_homeservice

catkin_ws_homeservice

How to use it

First thing is to build the workspace on your playground:)

git clone https://github.com/zerenlu/catkin_ws_homeservice.git
cd catkin_ws_homeservice
rm -r build devel
cd ..
mv catkin_ws_homeservice catkin_ws
cd catkin_ws
catkin_make
source devel/setup.bash

Then you are good to play it:

• test slam using script test_slam.sh

  cd src/scripts
  ./test_slam.sh
  

  use the turtlebot_teleop to control the robot to mapping the environment
• test navigation using script test_navigation.sh

  cd src/scripts
  ./test_navigation.sh
  

  use 2D Nav Goal to set goals in Rviz
• perform pick objects functionality using pick_objects.sh

  cd src/scripts
  ./pick_objects.sh
  

  the robot will reach the first goal, rest for 5 seconds and then go to the second goal. Status information will be printed in console
• performe home service robot functionality using home_service.sh

  cd src/scripts
  ./home_service.sh
  

  the robot will go to pick up zone for 5 seconds to pick up the cube in pick up zone. Then the robot carry the cube to drop down zone and drop the cube down
• add markers in Rviz using add_markers.sh. But add_markers_showANDhide.cpp must be compiled first. Change the name of add_markers_showANDhide.cpp to add_markers.cpp then

  catkin_make
  source devel/setup.bash
  cd src/scripts
  ./add_markers.sh
  

  a cube will be shown in pick up zone for 5 seconds. Then disappear for 5 seconds. At last be shown in dropdown zone for 5 seconds

Contents

Used ros pkgs

• slam_gmapping is used for slam mapping.
• turtlebot is used for drive the robot.
• turtlebot_interactions is used for visulize in Rviz.
• turtlebot_simulator is used for load the robot and environments in gazebo world and perform amcl localization.

Modified files

• /src/turtlebot_interactions/turtlebot_rviz_launchers/rviz/navigation.rviz subcribes visulization_marker topic now to show markers.
• /src/turtlebot_simulator/turtlebot_gazebo/launch/amcl_demo.launch loads new map.yaml file from /src/map/map.yaml and changes initial pose of the robot.
• /src/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml changes robot pose.
• /src/turtlebot_simulator/turtlebot_gazebo/launch/turtlebot_world.launch loads new world file frome /src/map/home.world.