Ready to serve you anytime, anywhere.

• an upper structure designed to transport packages, objects, food
• six motorized wheels that allow it to move using differential control

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• ROS Noetic
• ROS Navigation Stack
• ROS robot_localization
• Gazebo
• Python

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At first it is necessary to install external packages:

• navigation

  sudo apt install ros-noetic-navigation

• slam-gmapping

  sudo apt install ros-noetic-slam-gmapping

• map-server

  sudo apt install ros-noetic-map-server

• robot_localization

  sudo apt-get install ros-noetic-robot-localization

1. Clone the repo inside the catkin workspace

   cd ~/catkin_ws/src
   git clone https://github.com/gmeidk/DelyBot.git

2. Build packages

   cd ~/catkin_ws
   catkin_make

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The possible optional parameter values are listed in the table.

The world parameter can be used to load a specific world map (the .world file must be located in the delybot_description/world/ folder).
To test the different world files in Gazebo it is possible to run the following command:

# Usage example to open district.world in Gazebo
roslaunch gazebo_ros empty_world world_name:=/home/your_username/catkin_ws/src/DelyBot/delybot_description/world/district.world

roslaunch delybot_description display.launch

Open a pre-configured Rviz session to display the robot.

roslaunch delybot_description gazebo.launch open_rviz:=true

Spawn the robot into the gazebo simulation environment. If the open_rviz optional parameter is true a pre-configured Rviz session is also opened.

roslaunch delybot_control ddr_control.launch world:=district

Spawn the robot with a differential drive control and a teleoperation node in gazebo.

roslaunch delybot_slam delybot_slam.launch world:=district_map

This command can be useful to create a 2d map of a specific world using a gmapping algorithm.

roslaunch delybot_navigation delybot_navigation.launch world:=district dwa_local_planner:=true

This command is used for the robot navigation, it's possible to give through Rviz a desired goal pose.
If the dwa_local_planner parameter is true the DWA local planner is used, else if it is false the Trajectory Rollout local planner is used.

rosrun delybot_navigation waypoint_spawner.py

This command run the waypoint_spawner node, used to send a specific goal pose selected from a predefined list to the robot.
The list is imported from the waypoint.json file inside the delybot_navigation/scripts/ folder.

# Output example
user@user:~$ rosrun delybot_navigation waypoint_spawner.py 

GOAL LIST:
0) Origin
1) Thrift Shop
2) Salon
3) Home
4) Post Office
5) Police
6) School
7) Fast Food

Insert goal index: 

• 3D robot modeling
• Add differential drive control
• Add laser and imu sensors using Kalman filter (pkg: robot_localization)
• Add world 3D model with static and moving obstacle
• Add delybot slam using gmapping to create 2D world map
• Add delybot navigation
• Add waypoint spawner node
• Update README

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For further information check the report - DelyBot Report.pdf

Alessandro Quatela - @qualex97 - [email protected]

Giuseppe Roberto - @gmeidk - [email protected]

Project Link: https://github.com/gmeidk/DelyBot

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