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Build Status Coverage Status License BSD 3-Clause Documentation

Authors

  • Raj Prakash Shinde GitHub
    I am a Masters in Robotics Engineering student at the University of Maryland, College Park. My primary area of interest are Legged Robotics and Automation.
  • Prasheel Renkuntla GitHub
    I am a Master's in Robotics Engineering student at the University of Maryland, College Park. My primary area of interest is in Vision integrated Robot Systems.

Overview

This is ROS Package developed for ACME Robotics to demonstrate the functionality of their new eco-bot in a simulated environment.

Description

The eco-bot is a trash collecting robot, that once given the location of trash, goes to the location and collects all the trash.
The ecobot first needs to generate a map of the area, which is done by using GMapping and RRT Exploration package. The RRT Exploration Package uses the Rapidly-Exploring Random Tree (RRT) path planning algorithm. A LiDAR is used for GMapping insted of a Laser, which enables to generate map very quickly.
Once the map is generated, it is stored as a pgm image file. The generated pgm file is used later during the trash collection. The ecobot is assumed to be connected to internet, from where it receives the trash location. The robot then navigated to the trash loacation, using A* Algorithm. After the robot reaches near the trash, it collects the trash.

Sprint Planning and Discussion

Sprint- Link

Agile Iterative Process Log

Log- Link

Presentation

ecobot presentation- Link

Dependencies

  1. Ubuntu 16.04
  2. C++ 11/14/17
  3. ROS Kinetic- Install
  4. Turtlebot stack
    Install by running following command

sudo apt-get install ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-rviz-launchers
  1. RRT Exploration Package by hasauino
  2. GMapping
  3. amcl
  4. Navigation stack

Build

Steps to build

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone https://github.com/Prasheel24/eco-bot
git clone https://github.com/hasauino/rrt_exploration.git
cd ~/catkin_ws/
catkin_make

Run

Generate Map
Open a new Terminal

source devel/setup.bash
roslaunch ecobot Mapping.launch

Now on rviz provide four publish points in following order, the fifth should be inside the world/room.

Save Map to Directory Once a satisfactory map is generated (Open a new Terminal)

rosrun map_server map_saver map:=/robot_1/map -f CollectorSpace

Collect Garbage Press Ctrl+ C to close the previous sessions and start a this in a new Terminal

source devel/setup.bash
roslaunch ecobot Collecting.launch

wait till the odom is received on main terminal then Open a new Terminal,

source ./devel/setup.bash
rosrun ecobot trash

Record bag while Mapping and Collecting
to record Mapping in a bag file, pass a record:=true argument as shown below (Open a new Terminal)

source devel/setup.bash
roslaunch ecobot Mapping.launch record:=true


to record Collecting in a bag file, pass a record:=true argument as shown below (Open a new Terminal)

source devel/setup.bash
roslaunch ecobot Collecting.launch record:=true

View Log Levels To view Log levels using rqt console and rqt logger level Open a new Terminal

rosrun rqt_console rqt_console

Open a new Terminal

rosrun rqt_logger_level rqt_logger_level

Run Bag Files Go to the directory consisting bag file(Open a new Terminal) Run roscore

roscore

Open a new terminal

cd ~/catkin_ws/
source devel/setup.bash
cd ~/catkin_ws/src/eco-bot/results/
rosbag play recording.bag

Run Test

To run gtest and rostest (Open a new Terminal)

catkin_make run_tests_ecobot

Gererate Doxygen docs

In a new terminal

sudo apt-get install doxygen
sudo apt install doxygen-gui
doxywizard

Bugs

ecobot sometimes take more time to collect/delete garbage even after reaching near, because A* path planner takes more time to achieve exact target location.

References

Contributions

  • RRT Exploration Package- H. Umari and S. Mukhopadhyay, "Autonomous robotic exploration based on multiple rapidly-exploring randomized trees," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 1396-1402. doi: 10.1109/IROS.2017.8202319 keywords: {edge detection;mobile robots;multi-agent systems;navigation;path planning;random processes;robot vision;trees (mathematics);efficient robotic exploration;three-dimensional space;autonomous robotic exploration;randomized trees;efficient robotic navigation;autonomous exploration strategies;edge detection;dimensional exploration;multiple Rapidly-exploring Random Trees;RRT algorithm;Robot Operating System framework;frontier detection;image processing;Detectors;Image edge detection;Robot sensing systems;Path planning;Navigation}, URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8202319&isnumber=8202121
  • Logo - https://www.flaticon.com/authors/nhor-phai

Disclaimer

BSD 3-Clause License

Copyright (c) 2019, Raj Shinde
Copyright (c) 2019, Prasheel Renkuntla
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its
   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.