robotics nanodegree home service project.

Final Project for robotics nano degree

Create a home service robot that picks a package and delivers it.

Packages used:

To complete this project I used the following packages:

• turtlebot_gazebo: This package is provided by turtlebot_simulator, This package is used to load the turtlebot and load the world provided as parameter.
• turtlebot_rviz_launchers: This package is got it from turtlebot_interactions, this package allows the user to interact with the turtlebot. The turtlebot_rviz_lauchers package is used to launch the rviz gui.

I created these packages too:

• add_markers: This package is used to create markers in rviz simulation. I used this package to create the markers for the packages. I created two nodes here: one for the exercise to show and hide virtual objects(add_virtual_objects) and another for the home service robot(add_markers_node). I am using the following packages here:

  • visualization_msgs: This package provides us with a set of messages that allows to deal with visualization data. I used this package to create the visual markers for the packages.
  • nav_msgs: this package define a set of messages used to interact with the navigation stack, I used this package to track the robot position.

• pick_objects: This package is used to send the robot to pick and drop the package. In this package I used move_base_msgs and actionlib to command the robot to go to the pickup and drop off location.

  • move_base_msgs: this package contains the messages used to communicate with the move_base node.
  • actionlib: this package provides a standard interface to perform predefined actions.