decluttering_domestic_robot

Project Overview and Description

Since robots are being rapidly deployed for various domestic applications, Acme Robotics is looking to develop a domestic robot as a part of its 5-year product road-map. The robot called the "Domestic Decluttering Robot" will declutter the house floor by identifying different items, collecting them, and placing them at their desired location in the house. The robot will scout the house floor to detect and grasp the desired object. Once grasped, it will place the object at the predefined location. The robot will have a camera to identify the object, Lidar sensor to make a 3D map of the environment around it, and a 8 DOF robotic manipulator mounted on it.

Documentation

Doxygen generated documentation for developers can be found here

Robot demo video
Presentation video
Presentation slides
Product backlog sheet google sheet
Sprint planning notes google docs

Development Team

Sprint	#1	#2	#3
Hrushikesh Budhale	Driver	Design Keeper	Navigator
Abhijit Mahalle	Navigator	Driver	Design Keeper
Ameya Konkar	Design Keeper	Navigator	Driver

External Dependencies

Installation instructions

Install Tiago packages from wiki.ros.org

cd <catkin workspace>/src
sudo apt-get install git
git clone --recursive https://github.com/HrushikeshBudhale/decluttering_domestic_robot.git
cd ..
catkin build
source ./devel/setup.bash

Copy the existing SLAM configuration files and world file from cloned repo to the tiago directory using following command.

sudo cp -r src/decluttering_domestic_robot/configuration/smallHouse/ ~/.pal/tiago_maps/configurations/

sudo cp src/decluttering_domestic_robot/world/smallHouse.world /tiago_public_ws/src/tiago_simulation/tiago_gazebo/worlds/

For launching the simulation demo run following command. This will start a gazebo environment of a house with 5 rooms. Tiago robot will be spawned. Also a small blue color box will be spawned in a random location.

roslaunch decluttering_domestic_robot simulation.launch

Launch file can be used to record a bag file by passing rocord_bag argument as follows

roslaunch decluttering_domestic_robot simulation.launch record_bag:=true