From 8508cab82db93a5b58ca72bacab127d0543b07a6 Mon Sep 17 00:00:00 2001 From: urastogi885 Date: Sat, 23 Nov 2019 00:34:59 -0500 Subject: [PATCH 1/9] [Task 1.2]Update license with team member names --- LICENSE | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/LICENSE b/LICENSE index 2cf74bf..9e71324 100644 --- a/LICENSE +++ b/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 From a5f68b9dfec8dcbe0e9bbae8f4ba0117bdc21326 Mon Sep 17 00:00:00 2001 From: urastogi885 Date: Sat, 23 Nov 2019 00:47:47 -0500 Subject: [PATCH 2/9] [Task 1.3] Add file to setup 2 levels of unit testing in travis --- .travis.yml | 92 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 92 insertions(+) create mode 100644 .travis.yml diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..c75d050 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,92 @@ +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 $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" + - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 + - sudo apt-get update -qq + - sudo apt-get install dpkg + - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool + # Add opencv support in ROS + #- sudo apt-get install libopencv-dev + # install lcov to generate code coverage data + - sudo apt-get install -y lcov + # Needed to install coveralls-lcov to upload coverage information generated by LCOV to coveralls.io + - gem install coveralls-lcov + # Install ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. + - sudo apt-get install ros-$ROS_DISTRO-ros-base + - sudo apt-get install ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-std-msgs ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-geometry-msgs + - source /opt/ros/$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 \ No newline at end of file From 6fec41c6b187972b92994937dd9e26420ec3b402 Mon Sep 17 00:00:00 2001 From: urastogi885 Date: Sat, 23 Nov 2019 00:52:01 -0500 Subject: [PATCH 3/9] [Task 1.3] Fix unauthentication error in travis build --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index c75d050..56b8cdb 100644 --- a/.travis.yml +++ b/.travis.yml @@ -21,7 +21,7 @@ before_install: - 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 python-catkin-pkg python-rosdep python-wstool + - 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 From f5c9ada3985ee13c577ce1305782bf6e0ec0eb51 Mon Sep 17 00:00:00 2001 From: urastogi885 Date: Sat, 23 Nov 2019 01:07:48 -0500 Subject: [PATCH 4/9] [Task 1.3] Fix authentication error for ros kinetic in travis build --- .travis.yml | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/.travis.yml b/.travis.yml index 56b8cdb..bf148e7 100644 --- a/.travis.yml +++ b/.travis.yml @@ -19,18 +19,17 @@ env: before_install: - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 - - sudo apt-get update -qq - - sudo apt-get install dpkg - - sudo apt-get install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool + - sudo apt update -qq + - sudo apt install dpkg + - sudo apt install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool # Add opencv support in ROS - #- sudo apt-get install libopencv-dev + #- sudo apt install libopencv-dev # install lcov to generate code coverage data - - sudo apt-get install -y lcov + - sudo apt install -y lcov # Needed to install coveralls-lcov to upload coverage information generated by LCOV to coveralls.io - gem install coveralls-lcov # Install ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. - - sudo apt-get install ros-$ROS_DISTRO-ros-base - - sudo apt-get install ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-std-msgs ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-geometry-msgs + - sudo apt install -y --allow-unauthenticated ros-$ROS_DISTRO-ros-base - source /opt/ros/$ROS_DISTRO/setup.bash # Prepare rosdep to install dependencies. - sudo rosdep init From b83d0fac5bfa90d1e4704bc9809d5a6140c13a0f Mon Sep 17 00:00:00 2001 From: urastogi885 Date: Sat, 23 Nov 2019 01:13:00 -0500 Subject: [PATCH 5/9] [Task 1.3] Add apt-get instead of just apt --- .travis.yml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/.travis.yml b/.travis.yml index bf148e7..358c776 100644 --- a/.travis.yml +++ b/.travis.yml @@ -19,17 +19,17 @@ env: before_install: - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 - - sudo apt update -qq - - sudo apt install dpkg - - sudo apt install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool + - sudo apt-get update -qq + - sudo apt-get install dpkg + - sudo apt-get install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool # Add opencv support in ROS - #- sudo apt install libopencv-dev + #- sudo apt-get install libopencv-dev # install lcov to generate code coverage data - - sudo apt install -y lcov + - sudo apt-get install -y lcov # Needed to install coveralls-lcov to upload coverage information generated by LCOV to coveralls.io - gem install coveralls-lcov # Install ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. - - sudo apt install -y --allow-unauthenticated ros-$ROS_DISTRO-ros-base + - 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 From 4f4ec371e9f7fed6d29559cd08316f2dd1d3ddec Mon Sep 17 00:00:00 2001 From: urastogi885 Date: Mon, 25 Nov 2019 04:28:16 -0500 Subject: [PATCH 6/9] Add image to be included in overview of readme --- readme_images/initial_proposal_setup.png | Bin 0 -> 259447 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 readme_images/initial_proposal_setup.png diff --git a/readme_images/initial_proposal_setup.png b/readme_images/initial_proposal_setup.png new file mode 100644 index 0000000000000000000000000000000000000000..9941bb3925fc3cdc4a69e31072c4fbd6a6691d8c GIT binary patch literal 259447 zcmZs?WmuGL*eyK305jw;bi)8cNO$J|Lw8Ce-CZIzbPEE~B@$8!NH>Z~cSxs_iiDu> 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zgb0B+xP<@xi6QW|1h-XH`%4ysKp>#HwI>9?#|ylv*k6^_)@KKB0zig{nd0A|gKtZu zqXx0~M{v8pWcgIDDxr#pJo5B&FgBnCchQTfMdmqxI`57FGMYJD4ELL;ELxHn`pU4t z{Bl-W=8T<$Y=wamtq6g5N2k{sD+QWmdM9Ad6wDKb#8%st}KAm;SZ0Iju=5LfssT*EDCEYHzUUkpI37zUV-ny{O&huvRJ z0Zh!1+D*Dq^<0V>OvI$qO*~oUf0w%|*nZE1z-zh}>5)^A*~?`-OZpX3T7%F0ME&Yv xULHSVTFk$Oy!o&zzh+MpBmxcQt^W7%f*8v%xI3cz9&)hpaB)4PrIk{a{y%%R0s8;| literal 0 HcmV?d00001 From 6733336540586885a18f66131b3deda4b15e0730 Mon Sep 17 00:00:00 2001 From: urastogi885 Date: Mon, 25 Nov 2019 16:12:28 -0500 Subject: [PATCH 9/9] [Task 1.7]Add readme with project details and instructions to install dependencies --- README.md | 101 ++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 101 insertions(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 0000000..a7386a8 --- /dev/null +++ b/README.md @@ -0,0 +1,101 @@ +# 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. + +

+ +Figure 1 - Robot approaching towards the cans lying on the ground to collect them +

+ + +## 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 +/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 +``` \ No newline at end of file

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