Mobile Autonomous Robot for Indoor and

Outdoor Collection Of Medical Waste

(MARIO-COM)
Group - 4
Phase 1
ADARSH MALAPAKA BHARADWAJ CHUKKALA KUMARA RITVIK ORUGANTI

118119625 118341705 117368963

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.
 Timeline

PHASE 1 PHASE 2 PHASE 3

Proposal Sprint 01 Sprint 02

Project Overview, UML Diagram, Update UML and Stubs, Developer level Fix dependency issues,
Code Stubs documentation, Unit testing, CI/CD Complete implementation,
Release-level software
 Dependencies
● OS: Ubuntu 20.04
● ROS Version: Foxy Fitzroy
● OpenCV 4.6.0
● Turtlebot3
● OpenManipulator-X
● Navigation2 ROS
 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

UML Diagram
Activity Diagram
 Mobile Autonomous Robot for Indoor
and Outdoor Collection Of Medical Waste
(MARIO-COM)

Phase 2
ADARSH MALAPAKA BHARADWAJ CHUKKALA KUMARA RITWIK ORUGANTI

118119625 118341705 117368963

 Timeline

PHASE 1 PHASE 2 PHASE 3

Proposal Sprint 01 Sprint 02

Project Overview, UML Diagram, Update UML and Stubs, Developer level Fix dependency issues,
Code Stubs documentation, Unit testing, CI/CD Complete implementation,
Release-level software
 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
UML Diagram Revised
Basic Unit Testing
 Mobile Autonomous Robot for Indoor
and Outdoor Collection Of Medical Waste
(MARIO-COM)

Phase 3
ADARSH MALAPAKA BHARADWAJ CHUKKALA KUMARA RITWIK ORUGANTI

118119625 118341705 117368963

 Timeline

PHASE 2
PHASE 1 PHASE 3

Proposal Sprint 01
Sprint 02

Project Overview, UML Diagram,
Code Stubs
Update UML and Stubs, Developer level
Fix dependency issues,
documentation, Unit testing, CI/CD
Complete Actual implementation,
Release-level software
 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
 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!
Build Status and Coverage
 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