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PR2Maid

Build Status License: GPL v3

PR2 based Path Planar and Lego Brick Picker Robot.

This project aims to develop the software stack using agile software development process to demonstrate the simulation of a PR2 robot that localizes in a given map and explores the environment to look for lego bricks lying around.

The PR2Maid is aimed at offloading some of the menial workload from the household domestic worker by traversing the house floor searching for scattered Lego Bricks which it identifies, picks and places at designated areas in order to declutter the house floor. The PR2’s off the shelf hardware consistes of two 7 DOF robotic arm mounted on a mobile base while the sensor suite comprises of a plethora of sensors including stereao cameras IMUs, two Lidars, etc. Together these components make the PR2Maid adept of many other household chores.

The repository is a ROS package implementing a Simulated PR2 Robot in a Gazebo simulator. It uses in-built ROS global path planar, a color blob detector and an opensource laser line extractor to search localize, pick and plac elego bricks in know envirenment. It utilizes th amcl Monte Carlo Localization library to estimate its pose.

Dependencies

This ROS package is relies on the follwoing dependencies

  • ROS Kinetic to be installed on Ubuntu 16.04. Installation instructions are outlined here.
  • Gazebo version 7.0.0 or above. Installation instructions can be found here.
  • PR2 packages are required. Run the following command to install all pr2 related packages.
sudo apt-get install ros-kinetic-pr2-*
  • MoveIt packages are required. Run the following command to install all related packages.
sudo apt-get install ros-kinetic-moveit
  • OpenCV v3 packages are required. Run the following command to install all related packages.
sudo apt-get install -y build-essential
sudo apt-get install -y cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install -y python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

# Download v3.0.0 .zip file and extract.
curl -sL https://github.com/Itseez/opencv/archive/3.0.0-beta.zip > opencv.zip
unzip opencv.zip
cd opencv-3.0.0-beta
  
 # Create a new 'build' folder.
mkdir build
cd build
  
 # Set build instructions for Ubuntu distro.
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D WITH_QT=ON -D WITH_OPENGL=ON ..
  
 # Run 'make' with four threads.
make -j4
  
 # Install to OS.
sudo make install
  
 # Add configuration to OpenCV to tell it where the library files are located on the file system (/usr/local/lib)
sudo sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
  
sudo ldconfig
  • rostest framework is used for integration tests and googletest framework is used for unit tests.

Package dependences

The following are the package dependies:

  • geometry_msgs
  • nav_msgs
  • roscpp
  • rospy
  • sensor_msgs
  • std_msgs
  • visualization_msgs
  • tf
  • move_base
  • move_base_msgs
  • actionlib
  • eigen
  • cv_bridge

Solo Iterative Process (SIP)

Solo Iterative Process (SIP) is used in the development of the project. The planning and development of the project is done in three sprints.

Product backlog, Iteration worklogs and Sprint Schedule.

Sprint Planning Notes.

Video Presentation

Build

In your desired directory, run the following commands.

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone https://github.com/mjerrar/pr2Maid.git
cd ..
catkin_make

Run

The package consists of several different nodes and launch files First, launch the PR2 robot model in the the lego_room.world

cd <path to catkin_ws>
source devel/setup.bash
roslaunch pr2maid pr2_gazebo.launch

Then run the navigation and localization stack using the follwoing command

roslaunch pr2maid pr2_nav.launch

Now, to visualize the planning of the planning markers and to command to there robot to nay position simply run

roslaunch pr2_navigation_global rviz_move_base.launch

To visualize the Output of the Line Extractor

rosrun pr2maid pr2maid_Line_extraction_node

and then enable visual markers in Rviz to see an overlay, you can also turn on other markers to visualize.

Demo

AMCL Localization Line Segment Extraction Navigation Obstacle

API and other developer documentation

kam3k/laser_line_extractor This packages helps in isolating line segments from laser scans. It is released under BSD-3 License which can be found in the src/Laser_Line_Extractor folder.

Known Issues/ Bugs

  • On restart of Rviz GUI, IMU simualted IMU sensor fails and takes time to recover effecting the EKF odometry estimation.

Doxygen Documentation

Doxygen Documentation generation steps:

cd <path to package root>
mkdir Doxygen
cd Doxygen
doxygen -g <config_file_name>

Open configuration file and update the following:

PROJECT_NAME = 'pr2maid'
INPUT = ../src ../include/pr2maid/ ../test
ENABLE_PREPROCESSING = NO

Run and generate the documents by executing the following:

doxygen <config_file_name>

Coverage

Install lcov

sudo apt-get install lcov

To check for coverage, execute the following commands.

cd <path to catkin_ws>/build
lcov --directory . --capture --output-file coverage.info
lcov --remove coverage.info '/opt/*' '/usr/*' '*/devel/*' '*test_*' '*_test*' --output-file coverage.info
lcov --list coverage.info

The results are shown below: Coverage