https://github.com/koushik-elite/home-service-robot
https://github.com/koushik-elite/home-service-robot
Last synced: 2 months ago
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- Host: GitHub
- URL: https://github.com/koushik-elite/home-service-robot
- Owner: koushik-elite
- Created: 2022-01-25T19:48:49.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2022-02-01T09:36:47.000Z (over 3 years ago)
- Last Synced: 2025-01-22T01:36:35.092Z (4 months ago)
- Language: CMake
- Size: 272 KB
- Stars: 0
- Watchers: 3
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Home Service Robot
Udacity's Robotics Software Engineer Nanodegree Program
### Directory Tree and contents
```
.
├── README.md
├── images
│ ├── ... ...
├── CMakeLists.txt
├── add_markers
│ └── src
│ ├── add_markers.cpp
│ └── add_markers_test.cpp
├── map
│ ├── Maze_World.world
│ ├── maze_world.pgm
│ ├── map.yaml
├── pick_objects
│ └── src
│ ├── pick_objects.cpp
│ └── pick_objects_test.cpp
├── Rviz
│ └── default.rviz
├── scripts
│ ├── add_marker.sh
│ ├── home_service.sh
│ ├── pick_objects.sh
│ ├── test_navigation.sh
│ └── test_slam.sh
├── slam_gmapping
│ ├── gmapping
│ |── ... ...
├── turtlebot
│ |── turtlebot_teleop
│ |── ... ...
├── turtlebot_interactions
│ |── turtlebot_rviz_launchers
│ |── ... ...
|── turtlebot_simulator
│ ├── turtlebot_gazebo
│ |── ... ...
```
This directory represents the main project's `src` folder structure with following contents
* README.md: this file.
* **images** - folder with images and videos for this report
* **add_markers** - add marker C++ node
* **map** - map and gazebo world files
* **pick_objects** - pick-objects C++ node
* **Rviz** - folder with rViz configurations used with some launch scripts
* **scripts** - shell scripts
* `add_marker.sh` - script for testing add_marker concept with `add_markers_test.cpp`
* `home_service.sh` - main script for the home-service-robot
* `pick_objects.sh` - script for testing pick_objects concept with `pick_objects_test`
* `test_navigation.sh` - script for testing navigation
* `test_slam.sh` - script for performing SLAM and preparing map
* **slam_gmapping** - official ROS package with `gmapping_demo.launch` file
* **turtlebot** - official ROS package with `keyboard_teleop.launch` file
* **turtlebot_interactions** - official ROS package with `view_navigation.launch` file
* **turtlebot_simulator** - official ROS package with `turtlebot_world.launch` file
### Clone and Build
Create Catkin workspace
```
mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
```
clone repository:
```
cd ~/catkin_ws/
git clone https://github.com/koushik-elite/Home-Service-Robot.git
```
Install dependencies:
```
rosdep -i install gmapping -y
rosdep -i install turtlebot_teleop -y
rosdep -i install turtlebot_rviz_launchers -y
rosdep -i install turtlebot_gazebo -y
```
`NOTE`: If any of the official packages give error, delete associated folder and clone with src folder using appropriate line from here:
```
git clone https://github.com/ros-perception/slam_gmapping.git
git clone https://github.com/turtlebot/turtlebot.git
git clone https://github.com/turtlebot/turtlebot_interactions.git
git clone https://github.com/turtlebot/turtlebot_simulator.git
```
build workspace
```
cd ~/catkin_ws/
catkin_make
```
### Launch Home service bot
```
cd ~/catkin_ws/src/scripts/
chmod +x home_service.sh
./home_service.sh
```
###Note:
i edited the map which is created using slam_gmapping using Gimp/Image editor