In this project, we will build a Home Service Robot in ROS.
Create a test_slam.sh
script file and launch it to manually test SLAM.
A functional map of the environment should be created which would be used for localization and navigation tasks.
Create a test_navigation.sh
script file to launch it for manual navigation test.
Robot should be able to navigate in the environment after a 2D Nav Goal command is issued.
Next, create a pick_objects.sh
file that will send multiple goals for the robot to reach.
The robot travels to the desired pickup zone, displays a message that it reached its destination, waits 5 seconds, travels to the desired drop off zone, and displays a message that it reached the drop off zone."
Create a add_marker.sh
file that will publish a marker to rviz.
The marker should initially be published at the pickup zone. After 5 seconds it should be hidden. Then after another 5 seconds it should appear at the drop off zone.
The student should write a home_service.sh file that will run all the nodes in this project.
The student's home service robot should be simulated as follow:
- Initially show the marker at the pickup zone.
- Hide the marker once your robot reach the pickup zone.
- Wait 5 seconds to simulate a pickup.
- Show the marker at the drop off zone once your robot reaches it.