Merge pull request #1 from urastogi885/phase1

Readme and UML diagrams checked and are correct.
Verified AIP Process and understood Sprint Planning Notes.

.travis.yml

@@ -0,0 +1,91 @@
+dist: xenial
+sudo: required
+cache: apt
+language: generic
+
+# Configuration variables. All variables are global
+env:
+  global:
+    - ROS_DISTRO=kinetic
+    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
+    - CI_SOURCE_PATH=$(pwd)
+    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
+    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
+    - ROS_PARALLEL_JOBS='-j8 -l6'
+
+################################################################################
+
+# Install system dependencies, namely a very barebones ROS setup.
+before_install:
+  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+  - sudo apt-get update -qq
+  - sudo apt-get install dpkg
+  - sudo apt-get install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool
+  # Add opencv support in ROS
+  #- sudo apt-get install libopencv-dev
+  # install lcov to generate code coverage data
+  - sudo apt-get install -y lcov
+  # Needed to install coveralls-lcov to upload coverage information generated by LCOV to coveralls.io
+  - gem install coveralls-lcov 
+  # Install ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 
+  - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-ros-base
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  # Prepare rosdep to install dependencies.
+  - sudo rosdep init
+  - rosdep update
+  # Install 
+
+
+# Create a catkin workspace with the package under integration.
+install:
+  # Create a catkin workspace
+  - mkdir -p ~/catkin_ws/src
+  - cd ~/catkin_ws/src
+  - catkin_init_workspace
+  # Create the devel/setup.bash (run catkin_make with an empty workspace) and
+  # source it to set the path variables.
+  - cd ~/catkin_ws
+  - catkin_make
+  - source devel/setup.bash
+  # Add the package under integration to the workspace using a symlink.
+  - cd ~/catkin_ws/src
+  - ln -s $CI_SOURCE_PATH .
+
+# Install all dependencies, using wstool first and rosdep second.
+# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+before_script:
+  # source dependencies: install using wstool.
+  - cd ~/catkin_ws/src
+  - wstool init
+  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+  - wstool up
+  # package depdencies: install using rosdep.
+  - cd ~/catkin_ws
+  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+
+# Compile and test (mark the build as failed if any step fails). If the
+# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
+# to blacklist certain packages.
+#
+# NOTE on testing: `catkin_make run_tests` will show the output of the tests
+# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
+# fails. Running `catkin_test_results` aggregates all the results and returns
+# non-zero when a test fails (which notifies Travis the build failed).
+script:
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - cd ~/catkin_ws
+  - catkin_make
+  # Run the tests, ensuring the path is set correctly.
+  - source devel/setup.bash
+  - catkin_make run_tests && catkin_test_results
+
+after_success:
+  - cd ~/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
+  - coveralls-lcov coverage.info
+
+notifications:
+  email: false

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2019, Umang Rastogi
+Copyright (c) 2019, Umang Rastogi, Naman Gupta
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

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+# Project X
+[![Build Status](https://travis-ci.org/urastogi885/Supermarket-Cleaning-Robot.svg?branch=master)](https://travis-ci.org/urastogi885/Supermarket-Cleaning-Robot)
+[![Coverage Status](https://coveralls.io/repos/github/urastogi885/Supermarket-Cleaning-Robot/badge.svg?branch=master)](https://coveralls.io/github/urastogi885/Supermarket-Cleaning-Robot?branch=master)
+[![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://github.com/urastogi885/Supermarket-Cleaning-Robot/blob/master/LICENSE)
+---
+
+## Overview
+
+According to a study done in Morrisville, North Carolina, the Walmart Supercenter located in the town
+receives about 10,000 people per day. Unquestionably, the actual foot traffic depends on a variety of
+factors, but we cannot disregard that supermarkets are one of the busiest places in a town. The more the
+number of people, the more likely it is for the store to become dirty. It always begets frustration among
+workers to maintain the store at its most pristine level. Our supermarket cleaning robot can remove the
+stress of cleanliness by performing the tasks of an employee.
+
+Currently, most of the robots are only capable of executing a single task. It turns out to be expensive for
+a store owner to buy a robot that can perform a single task. We propose to develop a robot that can
+perform various maintenance tasks. The robot will be able to maintain cleanliness as well as make
+supermarkets autonomous. The robot will able to clean aisles, stack up empty rows, and collect fallen
+items.
+
+For prototyping, we are focusing on only one task that is identifying and collecting the items using the
+robot. The robot will roam in a supermarket like environment in Gazebo and identify the type of items
+that it needs to collect. It identifies the item using a camera, mounted on its base, and moves towards the
+fallen item. Here, we are considering objects such as food, soft drinks cans and it is assumed that the robot
+will already know the type of item that it needs to pick. As the robot reaches the location of the item and
+touches it, the item will vanish depicting that the item is collected using a suction cup. The robot will
+traverse randomly in the supermarket and keep on collecting a can. We are focusing on the detection of
+cans using the OpenCV to improve the processing of the detection feature. In addition to this, the robot
+has an obstacle avoidance feature that is used to prevent the robot from colliding from obstacles such as
+humans, uninteresting items and walls/shelves.
+
+<p align="center">
+<img src="https://github.com/urastogi885/Supermarket-Cleaning-Robot/blob/phase1/readme_images/initial_proposal_setup.png">
+<b>Figure 1 - Robot approaching towards the cans lying on the ground to collect them</b>
+</p>
+
+
+## Team Members
+
+- [Umang Rastogi](https://github.com/urastogi885) - Pursuing masters in Robotics at University of Maryland | B.Tech in Electronics & Communication Engineering
+- [Naman Gupta](https://github.com/namangupta98) - Grad Student at University of Maryland, pursuing M.Eng. in Robotics.
+
+## AIP and Sprint Documents
+
+- Click on this [*link*](https://docs.google.com/spreadsheets/d/1k6e7rM7TTvE5w2fQ_wuSDY_giNWaVuCHeImB6D53lT4/edit?usp=sharing)
+to access our AIP Google Sheet.
+- Click on this [*link*](https://docs.google.com/document/d/1iQZUstgoCCvtSvlcv1_xpxGW6ntUbkOpcgMuvrSP_ms/edit?usp=sharing)
+to access our Sprint notes document.
+
+## Accessing the UML Diagrams
+
+- Open the *UML* directory of the project.
+- Access UML diagrams from the *initial* folder located within *UML* sub-directory.
+
+## Dependencies
+
+- Ubuntu 16.04
+- ROS Kinetic
+- Gazebo
+- Turtlebot Packages
+
+## Install Dependences
+
+- This project was developed using ROS Kinetic.
+- It is highly recommended that ROS Kinetic is properly installed on your system before the use of this project.
+- Follow the instructions on the [*ROS kinetic install tutorial page*](http://wiki.ros.org/kinetic/Installation/Ubuntu)
+  to install ***Full-Desktop Version*** of ROS Kinetic.
+- The full-version would help you install *Gazebo* as well. If you have ROS Kinetic pre-installed on your machine, use
+  the following [*link*](http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install) to just install *Gazebo* on your
+  machine.
+- Ensure successful installation by running *Gazebo* via your terminal window:
+```shell script
+gazebo
+```
+- An empty window of *Gazebo Simulator* should be launched.
+- Make sure that turtlebot packages have been installed on your machine using the following commands:
+```shell script
+roslaunch turtlebot_gazebo turtlebot_world.launch
+``` 
+- A window of *Gazebo Simulator* with various items and a turtlebot should be launched.
+- If an error pops up upo launching the turtlebot world, then install the necessary turtlebot packages:
+```shell script
+sudo apt install ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-rviz-launchers
+```
+- Create your ROS workspace by following instructions on the [*create ROS workspace tutortial page*](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
+
+## Build
+
+- ***Ignore this section*** as nothing to be built has been added yet.
+- Even if you run the following, it will not impact your existing workspace.
+- Switch to your *src* sub-directory of your ROS workspace to clone this repository.
+```shell script
+<ROS Workspace>/src
+```
+- Run the following commands to clone and build this project:
+```shell script
+git clone --recursive https://github.com/urastogi885/obstacle_avoidance_simulation
+cd ..
+catkin_make
+```