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.
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
| Sprint | #1 | #2 | #3 |
|---|---|---|---|
| Hrushikesh Budhale | Driver | Design Keeper | Navigator |
| Abhijit Mahalle | Navigator | Driver | Design Keeper |
| Ameya Konkar | Design Keeper | Navigator | Driver |
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
To Build the Tests using catkin_make run following command in your catkin workspace.
catkin_make tests
To run the test execute following command.
rostest decluttering_domestic_robot main_test.test
Run the following command in folder's root directory to generate new documentation
doxygen docs/doxygen_config.conf
Picking the object at corner positions is not possible for the robot.