BUTLER BOT in CAFE

TITLE & ABOUT

• The ButlerBot project aims to develop an autonomous robot capable of delivering orders from the kitchen to specific tables in a cafe.
• used a differential drive robot
• This project is built on ROS 2 Humble (Ubuntu 22.04)

HOW TO INSTALL

Create workspace

mkdir -p ros2_ws/src
cd ros2_ws/src

clone this repository

git clone https://github.com/Vinothhk/Cafe.git

Build the workspace

cd ..
colcon build
source install/setup.bash

USAGE

To spawn the robot in gazebo and visualize:

ros2 launch butlerbot spawn_robots.launch.xml

To perform mapping (SLAM):

ros2 launch butlerbot slam.launch.py use_sim_time:=true

To bringup all the navigation nodes along with gazebo simulation:

ros2 launch butlerbot navigation.launch.xml

APPROACH

• Move Robot Node Initialized

ACTION CLIENT

• An Action Client for NavigatetoPose action is created, which is responsible for sending navigation goals to the robot.

ORDER HANDLING

• The process method handles the main logic of interacting with the user, taking orders, confirming deliveries, and handling cancellations.
• User input is taken to determine if an order is to be placed.
• If an order is placed, the table numbers are collected, and the robot is instructed to move to the kitchen to pick up the order.
• Once the kitchen confirms that the order is ready, the robot proceeds to deliver the order to the specified tables.
• The user is asked for confirmation at each table, and the order is marked as delivered if confirmed.
• The robot moves to home after successful deliveries of orders.
• If any of the order get cancelled or the the customer fail to attend the robot at the table, it then moves to kitchen before returning to Home.

NAVIGATION FUNCTIONS

• The methods move_to_kitchen, move_to_tableone, move_to_tabletwo, move_to_tablethree, and move_to_home are used to move the robot to specific locations.
• These methods call the move_to_position method with the coordinates of the target location.

FEEDBACK & RESULT HANDLING

• The goal_response_callback method handles the response from the action server, checking if the goal was accepted.
• The _wait_for_result method waits for the action server to complete the goal and logs the result.

RUN THE CODE

We need a couple of terminals to execute the program successfully.

In Terminal 1:

ros2 launch butlerbot navigation.launch.xml

In RViz, click on 'Open Config' and load the 'nav_viz.rviz' from butlerbot/config/. Wait a couple of seconds for the robot to take pose.

In Terminal 2: Let's run the main script..

ros2 run butlerbot move_robot.py

Now you can interact with the Spinning node through Terminal 2!!

(Pic of Running Program)