Putting it all Together

Now it’s time to simulate a full home service robot capable of navigating to pick up and deliver virtual objects. To do so, the add_markers and pick_objects node should be communicating. Or, more precisely, the add_markers node should subscribe to your odometry to keep track of your robot pose.

Modify the add_markers node as follows:

• Initially show the marker at the pickup zone
• Hide the marker once your robot reaches the pickup zone
• Wait 5 seconds to simulate a pickup
• Show the marker at the drop off zone once your robot reaches it

Hint

You might need to define a threshold for the position if the robot’s odometry values are noisy.

Note

There are many ways to solve this problem. To establish communications between the robot and the markers, one method already mentioned is to let your add_markers node subscribe to your robot odometry and keep track of your robot pose.

Other solutions to this problem might be to
use ROS parameters, subscribe to the AMCL pose, or even to publish a new variable that indicates whether or not your robot is at the pickup or drop off zone. Feel free to solve this problem in any way you wish.