FCleanBOT

A ROS-based project demonstrating an autonomous floor-cleaning robot that maps its environment, plans coverage paths, and detects/relocates objects in its path using a TurtleBot3 Waffle Pi with an OpenManipulator-X arm. The robot is simulated in Gazebo, using SLAM to generate an occupancy grid map, and Python scripts to execute a boustrophedon coverage algorithm and a simple obstacle-handling routine.

Table of Contents

1. Overview
2. Features
3. Requirements
4. Quick Start
5. Usage
6. File Structure
7. Contributing
8. Results

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1. Overview

This repository contains launch files, Python scripts, and configuration files to simulate a TurtleBot3 Waffle Pi equipped with an OpenManipulator-X. The robot autonomously navigates, maps the environment, and can pick or relocate objects detected via LiDAR.

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2. Features

• Gazebo Simulation of TurtleBot3 Waffle Pi + OpenManipulator-X
• 2D SLAM with the map_server for occupancy grids
• Boustrophedon Coverage algorithm for systematic floor cleaning
• Object Detection and Manipulation via simple Inverse Kinematics (IK)
• Integration with roslaunch for quick startup

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3. Requirements

• Ubuntu 20.04 or similar (ROS Noetic recommended)
• TurtleBot3 packages (turtlebot3, turtlebot3_manipulation_*, etc.)
• MoveIt! for motion planning
• Gazebo (version matching your ROS distribution)
• Python 3
• map_server for serving the occupancy grid map

Install typical dependencies (adjust for your ROS version/distro):

sudo apt-get update
sudo apt-get install ros-noetic-turtlebot3 ros-noetic-turtlebot3-manipulation \
                     ros-noetic-turtlebot3-manipulation-gazebo \
                     ros-noetic-map-server ros-noetic-moveit

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4. Quick Start

1. Clone this repository into your ROS workspace:

   cd ~/catkin_ws/src
   git clone https://github.com/anirudhgudi/FCleanBOT.git
   

2. **Build** the workspace:
 ```bash
 cd ~/catkin_ws
 catkin_make
 source devel/setup.bash

3. Verify that you have:
   • A home.pgm map in your repository
   • coverage.py and obs_manipu.py scripts
   • The turtlebot3_manipulation_* packages installed

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5. Usage

Below is the typical sequence of commands to bring up the robot in Gazebo, load the map, start MoveIt! for motion planning, and run the coverage and obstacle-handling scripts.

1. Launch the Gazebo simulation for TurtleBot3 + OpenManipulator:

   roslaunch turtlebot3_manipulation_gazebo turtlebot3_manipulation_gazebo.launch

2. Run the map server to provide the occupancy grid:

   rosrun map_server map_server home.pgm

3. Bring up the robot manipulation layers:

   roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch

4. Start MoveIt! for arm motion planning:

   roslaunch turtlebot3_manipulation_moveit_config move_group.launch

5. Execute the coverage script (boustrophedon path planning):

   python coverage.py

6. Run the obstacle-handling script (pick-and-place routine):

   python obs_manipu.py

Tip: These commands typically require separate terminals, or use a tool like tmux to organize your sessions. Make sure each terminal has sourced your workspace (source ~/catkin_ws/devel/setup.bash).

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6. File Structure

A simplified directory layout:

fcleanbot/
├── launch/
│   ├── turtlebot3_manipulation_gazebo.launch
│   ├── turtlebot3_manipulation_bringup.launch
│   └── ...
├── maps/
│   └── home.pgm
├── scripts/
│   ├── coverage.py      # Boustrophedon coverage
│   ├── obs_manipu.py    # Obstacle detection & manipulation
├── README.md
└── ...

• launch/: Contains the main ROS launch files.
• maps/: Holds the occupancy grid (.pgm) for map_server.
• scripts/: Python nodes for coverage path planning and object-handling.
• turtlebot3_manipulation_moveit_config/: MoveIt! config files.

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7. Contributing

Contributions are welcome! Feel free to open an issue or submit a pull request for:

• Bug fixes
• Additional features (e.g., advanced vision-based object recognition)
• Documentation improvements

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8. Results

Below are some snapshots of the robot in action:

1. Picking up and grasping with custom object