maarufvazifdar/food_serving_robot

Simulation of a robot waiter in cafe environment

food_serving_robot

Simulation of a robot waiter in cafe environment

Demonstration Video

Steps to run the package

1. In a new terminal:

cd <your_ws/src>
git clone https://github.com/maarufvazifdar/food_serving_robot
cd <your_ws>
rosdep install --from-paths src --ignore-src -r -y
catkin_make
source devel/setup.bash

roslaunch food_serving_robot gazebo.launch 

This will launch gazebo with cafe world, spawn robot and start joint contollers.

2. In a new terminal:

cd <your_ws>
source devel/setup.bash
roslaunch food_serving_robot navigation.launch

This will launch RViz, start autonomous navigation nodes.

3. In a new terminal:

cd <your_ws>
source devel/setup.bash
rosrun food_serving_robot move_arms.py

This will command the robot to pick-up the food tray.

4. After robot picks-up the food tray, in a new terminal:

cd <your_ws>
source devel/setup.bash
rosrun food_serving_robot nav_goals.py

This will send goal to the robot for delivering the food tray to the table.