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+# Project X
+[](https://travis-ci.org/urastogi885/Supermarket-Cleaning-Robot)
+[](https://coveralls.io/github/urastogi885/Supermarket-Cleaning-Robot?branch=master)
+[](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
+```
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