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Home-Service-Robot

Overview

Overview

In this project, we will build a Home Service Robot in ROS.

Mapping

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.

Localization and Navigation

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."

Home Service Functions

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.