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