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Autonomous Medicine Delivery Robot

This system implements an autonomous medicine delivery robot for hospital environments. The robot is capable of:

  • Reading QR codes to receive delivery tasks
  • Navigating to medicine storage shelves using ArUco markers
  • Precise positioning for medicine pickup
  • Autonomous navigation to hospital wards
  • Confirming delivery by entering wards

System Architecture

Camera System

  • Front Camera: QR code detection for task reception and ward entry
  • Side Camera: ArUco marker detection for shelf alignment
  • Opposite Side Camera: Extended vision and safety monitoring

Navigation System

  • Precise positioning using ArUco markers
  • Mecanum wheel-based movement
  • ROS-based control system

Components

  1. Camera Manager (src/camera/camera_manager.py)

    • Handles all camera operations
    • QR code detection
    • ArUco marker detection
    • Position calculation

  2. Navigation Controller (src/navigation/navigation_controller.py)

    • Precise positioning
    • Movement control
    • State management

  3. Main Controller (src/main_controller.py)

    • System coordination
    • Task execution
    • ROS integration

Setup

Prerequisites

  • Python 3.10+
  • ROS Noetic
  • OpenCV
  • Dynamixel SDK

Installation

  1. Clone the repository:

    git clone https://github.com/yourusername/python_dynamixel_106.git
cd python_dynamixel_106

  2. Install dependencies:

    pip install -r requirements.txt

  3. Configure camera devices in src/main_controller.py

Usage

  1. Start ROS core:

    roscore

  2. Run the main controller:

    python src/main_controller.py

Configuration

Camera Setup

  • Front camera: Device ID 0
  • Side camera: Device ID 1
  • Opposite side camera: Device ID 2

Navigation Parameters

  • Optimal distance to shelf: 60mm
  • Distance tolerance: 5mm
  • Angle tolerance: 0.05 radians

Task Format

QR codes should be formatted as:

medicine_id:ward1,ward2,ward3

Example:

med123:101,102,103

Safety Features

  • Continuous position monitoring
  • Error detection and reporting
  • Resource cleanup on shutdown

Contributing

  1. Fork the repository
  2. Create a feature branch
  3. Commit your changes
  4. Push to the branch
  5. Create a Pull Request

License

This project is licensed under the MIT License - see the LICENSE file for details.

Python Dynamixel Control

ROS 2 Docker Environment

Starting the Container

  1. Build and start the container:

    docker-compose up -d --build

  2. Enter the container:

    docker-compose exec ros2 bash

Inside the Container

Once inside the container, you'll be in the /ros2_ws directory. Here are some common ROS 2 commands:

  1. Source the ROS 2 environment:

    source /opt/ros/jazzy/setup.bash

  2. Check ROS 2 installation:

    ros2 --version

  3. List available nodes:

    ros2 node list

  4. List available topics:

    ros2 topic list

  5. View topic messages:

    ros2 topic echo /topic_name

  6. Run your nodes:

    # Run main controller
python3 src/main_controller.py

# Run navigation node
python3 src/navigation/navigation_controller.py

# Run sensor node
python3 src/sensors/sensor_manager.py

  7. Run tests:

    # Run all tests
pytest tests/

# Run specific test file
pytest tests/test_ros_nodes.py

# Run with verbose output
pytest -v tests/

Useful ROS 2 Commands

  • View node info:

    ros2 node info /node_name

  • View topic info:

    ros2 topic info /topic_name

  • View service list:

    ros2 service list

  • Call a service:

    ros2 service call /service_name service_type "{}"

  • View parameter list:

    ros2 param list

  • Get parameter value:

    ros2 param get /node_name parameter_name

Development Tips

  1. Source your workspace:

    source install/setup.bash

  2. Build your workspace:

    colcon build

  3. View build logs:

    colcon build --event-handlers console_direct+

  4. Clean build:

    rm -rf build/ install/ log/
colcon build

Troubleshooting

  1. If ROS 2 commands are not found:

    source /opt/ros/jazzy/setup.bash

  2. If your nodes are not found:

    source install/setup.bash

  3. If you get permission errors:

    # Check if you're running as rosuser
whoami
# Should show: rosuser

  4. To restart the container:

    # From host machine
docker-compose restart