Development of a ROS based waste collection robot for campus use

Keeping the environment clean is a difficult task. Lots of manpower and man hours are required to keep our surrounding clean. The developments in robotics can be utilized to automate many tasks including waste management. In this paper a mobile robot which is capable of navigating autonomously using GPS navigation is designed and simulated. A manipulator is also attached to the mobile robot to manipulate the waste collection bins. This project is entirely developed in Robot Operating System(ROS) with Noetic distribution. Modelling of the robot is done using Autodesk Fusion 360 software. Simulation is done in Gazebo environment with necessary sensor plugins.