To setup simply have a catking workspace created and have turtlebot installed
It's also a must exporting the turtlebot model
using export TURTLEBOT3_MODEL=waffle_pi
You must also have the turtlebot's simulation repositories cloned. As well as the following two worlds
cd ~/catkin_ws/src
git clone https://github.com/aws-robotics/aws-robomaker-small-house-world
git clone https://github.com/aws-robotics/aws-robomaker-hospital-world
To run the simulation simply add the runit.sh file to your workspace (~/catkin_ws i.e) and run it
This script will launch gazebo with apartment and bringup the rest
##Spawn objects
It is possible to spawn objects with
rosrun psr_apartment_description spawn_object.py _place:=<place> _object:=<object>
where after = we can place a string from the following list or a 0 0 means random generation normal models: ['Ball','beer','bowl','hammer','Handle','plastic_cup','Portrait','SeasoningBox','sphere_v'] models that only spawn on floor: ['female','male','box']
all possible placements, ground level ones (only ones that can take male, female, box) tagged with * placements : outside*,living_room_table,kitchen_counter,hall*,office*,gym*,kitchen_floor*,bed,bedside_cabinet
Before running its highly advised to run
rosrun gmapping slam_gmapping scan:=/scan _base_frame:=base_footprint
Making a slam map and save it in the navigation package.
- Move to specified rooms
- Robot search for objects in selected room/everywhere
- Robot photograph selected room
- Robot search for something in the appartement
- Move anywhere in the house with coordinates or semantics
- Spawn objects in at will