Autonomous Package Recovery Robot

Programmed a Turtlebot with a ROS node (explore_lite) to perform frontier exploration via Simultaneous Localization and Mapping (SLAM), returning to its starting pose.
Developed a ROS node (C++/Python) to implement a full-coverage path planning algorithm, using marker detection to locate and retrieve two boxesin a timely manner.
Visualized generated mapsin RViz and conducted simulationsin Gazebo, significantly streamlining the testing process and reducing the need for manual intervention.

Final ROS Launch File (See comments for key points):

<launch>
  <!--start slam, explore lite, and move_base-->
    <include file="$(find turtlebot3_slam)/launch/turtlebot3_slam.launch" >
    </include>
    <include file="$(find explore_lite)/launch/explore.launch" />
    <include file="$(find turtlebot3_navigation)/launch/move_base.launch" >
      <!--Set to true if turtlebot is only to move forward-->
      <arg name="move_forward_only" value="false"/>
    </include>

    <!--start custom nodes to retrieve a package and make markers-->
    <node pkg="mr" type="box_retrieval_jank.py" name="box_retrieval" output="screen">
    </node>
    <node pkg="mr" type="box_centre_calcs_large_markers.py" name="box_centre_calcs" output="screen">
    </node>


    <!--implement the camera-->
    <node pkg="image_transport" type="republish" name="image_republisher"
    args="compressed in:=raspicam_node/image raw out:=raspicam_node/image"/>

    <group ns="raspicam_node">
      <node pkg="image_proc" type="image_proc" name="image_proc">
        <remap from="image_raw"    to="/image"/>
        <param name="approximate_s"    type="bool"    value="true"/>
        <param name="queue_size"    type="int"    value="20"/>
       </node>
    </group>

  <node pkg="tf" type="static_transform_publisher" name="camera_rgb_optical_frame_to_cam"
    args="0 0 0 0 0 0 camera_rgb_optical_frame camera 10" />

  <node pkg="ar_track_alvar" type="individualMarkersNoKinect" name="ar_track_alvar" respawn="false" output="screen">
    <param name="marker_size"           type="double" value="4.5" />
    <param name="max_new_marker_error"  type="double" value="0.08" />
    <param name="max_track_error"       type="double" value="0.2" />
    <param name="output_frame"          type="string" value="map" />
    <remap from="camera_image"  to="/raspicam_node/image" />
    <remap from="camera_info"   to="/raspicam_node/camera_info" />
  </node>

  <!--path planning and localization after exploring-->
  <node pkg="clean_robot" type="path_planning_node" respawn="false" name="path_planning_node" output="screen" clear_params="true">
     <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_waffle_pi.yaml" command="load" ns="cleaning_costmap" />
     <rosparam file="$(find mr)/config/cleaning_costmap_params.yaml" command="load" />
  </node>

  <param name="/NextGoal/tolerance_goal" value="0.25" />
  <node pkg="clean_robot" type="next_goal" respawn="true" name="next_goal" output="screen" />

  <include file="$(find clean_robot)/launch/amcl.launch">
    <arg name="scan_topic" value="/scan"/>
  </include>


</launch>

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Autonomous Package Recovery Robot