roboVision project

A personalized voice-controlled robot-assistant. The base use-case scenarios:

1. Search: user asks robot to find object -> robot navigates around to find this object -> robot reports back search status and information about the found object
2. Delivery: user asks robot to bring the object -> robot performs Search to find an object -> if the search is successful grabs the object and delivers it to the user
3. Sort: user asks robot to sort objects into different places by some criteria -> robor performs Search to find sorting places -> robot performs Delivery to sort all objects

I can build a LEGO Mindstorm robot (because I already have this one) with:

• a differential drive using two large motors for wheels and small rotating wheel for stability
• a smartphone used as a web-cam
• a gripper controlled by one medium motor
• a radar to get approximation of objects pose
• a bumper which presses a button if the collision is very near
• a possibility to use a color sensor

Detailed plan and work-in-progress

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For later reference, maybe I will need some commands

A template project integrating ROS 2 and Gazebo simulator.

Included packages

• ros_gz_example_description - holds the sdf description of the simulated system and any other assets.

• ros_gz_example_gazebo - holds gazebo specific code and configurations. Namely this is where systems end up.

• ros_gz_example_application - holds ros2 specific code and configurations.

• ros_gz_example_bringup - holds launch files and high level utilities.

Install

For using the template with Gazebo Fortress switch to the fortress branch of this repository, otherwise use the default branch main for Gazebo Harmonic onwards.

Requirements

1. Choose a ROS and Gazebo combination https://gazebosim.org/docs/latest/ros_installation Note: If you're using a specific and unsupported Gazebo version with ROS 2, you might need to set the GZ_VERSION environment variable, for example:

   export GZ_VERSION=fortress

2. Install necessary tools

   sudo apt install python3-vcstool python3-colcon-common-extensions git wget

Use as template

Directly Use this template and create your project repository on Github.

Or start by creating a workspace and cloning the template repository:

mkdir -p ~/template_ws/src
cd ~/template_ws/src
wget https://raw.githubusercontent.com/gazebosim/ros_gz_project_template/main/template_workspace.yaml
vcs import < template_workspace.yaml

Usage

1. Install dependencies

   cd ~/template_ws
   source /opt/ros/<ROS_DISTRO>/setup.bash
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src --ignore-src -r -i -y --rosdistro <ROS_DISTRO>

2. Build the project

   colcon build --cmake-args -DBUILD_TESTING=ON

3. Source the workspace

   . ~/template_ws/install/setup.sh

4. Launch the simulation

   ros2 launch ros_gz_example_bringup diff_drive.launch.py

For a more detailed guide on using this template see documentation.