1. ADARSH MALAPAKA
118119625
Mobile Autonomous Robot for Indoor and
Outdoor Collection Of Medical Waste
(MARIO-COM)
Group - 4
BHARADWAJ CHUKKALA
118341705
KUMARA RITVIK ORUGANTI
117368963
Phase 1
2. Introduction and Motivation
● Bio hazardous waste generated from the hospitals causes chronic health diseases to the
people working in the hospitals and general public.
● Hospital waste transport and handling is a time-consuming, hazardous and infectious
process as the staff is exposed to be in contact with medical and bio-hazardous
substances.
● To use the current state of the art robotics technology in the hospitals to safely handle
the waste.
● Provide health care workers and the hospitals with a better work environment and
safely dispose the medical waste with no to minimal interference of human beings.
● Use the software development methodologies to efficiently develop and deploy a
project in 3 weeks.
6. Software Project Management Aspects
● Agile Iterative Process
● Test Driven Development
● Pair Programming including a design keeper
● Sprint Planning
● Product/Iteration Backlogging
● Work and Timesheet logging
9. ADARSH MALAPAKA
118119625
Mobile Autonomous Robot for Indoor
and Outdoor Collection Of Medical Waste
(MARIO-COM)
BHARADWAJ CHUKKALA
118341705
KUMARA RITWIK ORUGANTI
117368963
Phase 2
11. Plan
1. Review the code stubs and UML diagrams from Phase 1
2. Integrate the dependencies with installation instructions
3. Implement Basic Unit Testing using Google test framework
4. Development of required models
5. Creation of the simulation environments.
6. Update the repository with developer level documentation.
◦ Add the GitHub CI, CodeCov and License badges
◦ Dependency information
◦ Cpplint, Cppcheck & Doxygen
14. ADARSH MALAPAKA
118119625
Mobile Autonomous Robot for Indoor
and Outdoor Collection Of Medical Waste
(MARIO-COM)
BHARADWAJ CHUKKALA
118341705
KUMARA RITWIK ORUGANTI
117368963
Phase 3
16. Plan
1. Actual Implementation of the project in ROS2
2. Advanced Unit testing to verify expected functionality.
3. Fix Continuous Integration issues
4. Software release Deliverables
a. Static code analysis
b. Memory Leak checks
c. Developer level documentation
d. Proper build and run instructions
17. Issues
● Implementing MoveIt with ROS2 C++ on Foxy.
● The TurtleBot3 OpenManipulator-X is not yet updated for the ROS2 Humble for which there was an updated MoveIt
documentation and community support.
● Launch file integration to simulate the Gazebo with custom world and occupancy grid.
● Detecting the object was comparatively simple in Python than ROS.
● GitHub Continuous Integration with ROS2 and OpenCV installation.
● Spawn different objects using action client.
● Minimal support from ROS2 community for specific issues.
● Launch multiple objects randomly using Python - Future Release from the ROS2 Community!
19. Progress So Far
1. Successfully Implemented the Project that is ready for the final release
according to the plan.
2. Advanced Unit testing is yet to be implemented for testing the advanced
functionality.
3. Fix Continuous Integration issues
4. Deliver build instructions to reproduce the simulation environment
