Abstract
The Active Vision Group (AGAS) has gained plenty of experience in robotics over the past years. This contribution focuses on the area of service robotics. We present several important components that are crucial for a service robot system: mapping and navigation, object recognition, speech synthesis and speech recognition. A detailed tutorial on each of these packages is given in the presented chapter. All of the presented components are published on our ROS package repository: http://wiki.ros.org/agas-ros-pkg.
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Notes
- 1.
RoboCup website: http://www.robocup.org.
- 2.
Active Vision Group: http://agas.uni-koblenz.de.
- 3.
Team homer@UniKoblenz: http://homer.uni-koblenz.de.
- 4.
AGAS ROS packages: http://wiki.ros.org/agas-ros-pkg.
- 5.
HomerUniKoblenz on YouTube: http://www.youtube.com/c/homerUniKoblenz.
- 6.
Hector Mapping: http://wiki.ros.org/hector_mapping.
- 7.
AMCL: http://wiki.ros.org/amcl.
- 8.
Example video for mapping and navigation: http://youtu.be/rH4pNq3nlds.
- 9.
A ReadMe is available online in the software repository.
- 10.
tf package documentation: http://wiki.ros.org/tf.
- 11.
Example video for object recognition: https://youtu.be/dptgFpu7doI.
- 12.
Example video for the robot face: http://youtu.be/jgcztp_jAQE.
- 13.
A ReadMe is available online in the software repository.
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Acknowledgments
The presented software was developed in the Active Vision Group by research associates and students of the practical courses with the robots “Lisa” and “Robbie”. The authors would like to thank Dr. Johannes Pellenz, David Gossow, Susanne Thierfelder, Julian Giesen and Malte Knauf for their contributions to the software. Further, the authors would like to thank Baharak Rezvan for her assistance in testing the setup procedure of the described packages.
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Seib, V., Memmesheimer, R., Paulus, D. (2016). A ROS-Based System for an Autonomous Service Robot. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 625. Springer, Cham. https://doi.org/10.1007/978-3-319-26054-9_9
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