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ServiceBot

Steven Gambino

Huei-Tzu (Jane) Tsai

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Overview

  • An indoor service robot, capable of receiving voice commands to complete a variety of tasks.
  • Uses TurtleBot as base platform
  • Takes Navigation commands
  • Navigates to different rooms
  • Plays music
  • Speaks to you
  • A* path planning

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Motivation

http://anrg.usc.edu/ee579/spring2016/Alexa/echo.jpg

  • Robots as commercial products in the household
  • Want a robot to provide personal assistance and entertainment
  • Combination of amazon echo and iRobot roomba

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http://anrg.usc.edu/ee579/spring2016/Alexa/echo.jpg

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Team Description

Steven Gambino

  • Masters of Robotics student
  • A* global planner plugin, Gazebo World

Jane Tsai

  • Masters of Robotics student
  • SoundControl, Navigation, Servicebot Command Actions

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ServiceBot Dependencies

  • Ubuntu 14.04
  • ROS indigo
  • TurtleBot_Gazebo
  • roscpp
  • std_msgs
  • message_generation
  • geometry_msgs
  • tf

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  • pocketsphinx
  • sound_play
  • actionlib
  • actionlib_msgs
  • move_base_msgs
  • nav_msgs
  • nav_core
  • base_local_planner

Navigation

Sound Control

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ServiceBot System

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Global Planner System

  • Returns path from start to goal
  • Acts as a plugin to move base
  • Uses heuristic to focus on goal
  • Uses map created from SLAM

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Procedure

  • mkdir -p ~/catkin_ws/src
  • cd ~/catkin_ws/src
  • catkin_init_workspace
  • git clone --recursive https://github.com/StevieG47/Service-Robot.git
  • cd ~/catkin_ws/
  • catkin_make

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Build:

  • cd ~/catkin_ws
  • source ./devel/setup.bash
  • roslaunch servicebot servicebot_demo.launch

Run Demo:

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Issues Encountered

Navigation:

  • SLAM with gmapping
  • A* Heuristic
  • Speed of Robot

Voice Recognition:

  • Microphone Recognition
  • Installation on different devices
  • No acoustic echo cancellation

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Demo - Query & Play Music

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Demo-A* global planner

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Demo - A* plugin Navigation

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Demo - Command Move

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Future Work

  • Added capabilities for voice recognition
  • Added capabilities for speaking
  • Interpolated path planner
  • Vision recognition and classification
  • Real world implementation
  • Custom base platform

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Questions?