Patrolling Trash-Collecting Robot Documentation
===============================================

Contributors
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* Ethan Oh
* Marvin Gao
* Ritwik Rohan
* Suhash Reddy Thandheri


.. toctree::
   :maxdepth: 2
   :caption: Project Documentation

   project_intro
   simulation
   real_robot


Project Overview
----------------

The **Patrolling Trash-Collecting Robot** project aims to develop an autonomous mobile robot equipped with a robotic arm designed to patrol designated areas, detect and collect trash, and deposit it into a designated trash receptacle. The robot combines advanced navigation techniques, real-time object detection, precise manipulation, and robust mapping capabilities to autonomously maintain cleanliness and environmental hygiene.

Key Functionalities:

- Autonomous Navigation and Mapping (Nav2)
- Eye-Hand Calibration
- Real-time Trash Detection and Tracking (TF frames)
- Object Segmentation and Pose Estimation (Point Cloud Analysis)
- Robotic Arm Manipulation (MoveIt2, Pick-and-Place)