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Sanitizer-Robot-ROS2

The objective of this project was to implement a Sanitizer Robot to autonomously map, localize, navigate, and disinfect unknown environments with UV lamps for corona virus inactivation.

The project included 4 stages as depicted below:

image

The project utilizes the ROS2 package explore_lite for autonomous mapping of the environment.

Requirements

The package requires the following to run successfully:

  1. ROS2 Humble
  2. Big House simulation Environment The package was developed on Ubuntu 22.04

Building the package

In order to build the package, put the explore and amr_project folders into your ROS2 workspace and build using the following commands:

colcon build --packages-select explore_lite
colcon build --packages-select amr_project

And then install by using:

. install/setup.bash

Running the tasks

The Big House simulation environment can be launched by using:

ros2 launch turtlebot3_gazebo turtlebot3_bighouse.launch.py

Autonomous mapping

The autonomous mapping can be done by running the following commands in three different terminals:

  1. Launch Gazebo in the first terminals: 
    ros2 launch turtlebot3_gazebo turtlebot3_bighouse.launch.py
  2. Launch RVIZ2 in order to visualize the mapping the process and to launch the NAV2 stack: 
    ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True params_file:=/$HOME/dev_ws/src/amr_project/config/nav2_params.yaml slam:=True
    Make sure that the params_file argument contains the correct path to the parameters file while launching.
  3. Launch the explore lite package in order to start the mapping: 
    ros2 launch explore_lite explore.launch.py

In order to visualize the frontiers, go to RVIZ, then click on MarkerArray, select topic: /explore/frontiers

Localization and Navigation

This task allows the robot to localize autonomously by using the /global_localization topic.

  1. Launch the bighouse environment in the first terminal: 
    ros2 launch turtlebot3_gazebo turtlebot3_bighouse.launch.py
  2. Launch RVIZ and NAV2 stack in a separate terminal: 
    ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/dev_ws/src/amr_project/maps/bighousemap.yaml params_file:=/$HOME/dev_ws/src/amr_project/config/nav2_params.yaml
    Ensure that the path for params_file and map are consistent with the location of the package and configuration files.
  3. In a separate terminal, launch the localization and navigation nodes: 
    ros2 launch amr_project task3.launch.py

Sanitization of the Environment:

The goal of this task is to allow the robot to sanitize the environment by spreading UV radiation.

  1. Launch the bighouse environment: 
    ros2 launch turtlebot3_gazebo turtlebot3_bighouse.launch.py
  2. Launch RVIZ and NAV2 stack in a separate terminal: 
    ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/dev_ws/src/amr_project/maps/bighousemap.yaml params_file:=/$HOME/dev_ws/src/amr_project/config/nav2_params.yaml
    Ensure that the path for params_file and map are consistent with the location of the package and configuration files.
  3. Start the sanitization node by running the following command in a separate terminal: 
    ros2 launch amr_project task4.launch.py

In order to visualize the sanitized areas, go to RVIZ, then click on Map, select topic: /energy_map