Omar123098/RoboCup-home

RoboCup @Home ROS project that won 1st place in Egypt and qualified to internationals, enabling autonomous mapping, host-to-guest navigation, spoken guest interaction, visual feature extraction, and object-aware reporting (with bounding boxes and relative location descriptions). # RoboCup @Home - Home Education Robot This repository contains the full ROS-based software stack used in our RoboCup @Home project. ## Competition Result This is the project we used to join RoboCup @Home. Our team achieved: - First place in Egypt - Qualification to the RoboCup international stage ## Challenge Task We Solved The run starts with map scanning and ends with a full guest report to the host. 1. Build/scan the map of the environment. 2. Place the robot anywhere in the host room. 3. Give the command: **"find my guest"**. 4. The robot navigates to the guest room. 5. The robot visits guests one by one and asks each person for their name. 6. The robot returns to the host. 7. For every detected guest, the robot reports: - The name - At least two features (for example: t-shirt color, pants color, hair, gender) - A nearby object (for example: chair, TV, table) - The relative location of that object with respect to the person 8. The vision system creates a bounding box around the detected nearby object. ## What The System Provides - Mapping and map usage - Localization and room-to-room navigation - Speech understanding and speech synthesis - Guest interaction (ask-and-collect names) - Person feature extraction - Nearby object detection and relation estimation - Spoken summary generation for the host ## Repository Layout - `rchomeedu_mapping/`: mapping visualization resources - `rchomeedu_navigation/`: path planning, movement scripts, and maps - `rchomeedu_speech/`: speech recognition and text-to-speech stack - `rchomeedu_sr/`: additional speech/name scripts - `rchomeedu_vision/`: perception pipeline, tracker logic, and Gemini integration - `rchomeedu_arm/`: arm motion and gesture scripts ## Key Files And Their Roles ### rchomeedu_arm - `launch/arm.launch`: launch configuration for arm subsystem - `param/joints.yaml`: joint configuration values used by arm nodes - `scripts/arm.py`: main arm control behavior - `scripts/dance_arm.py`: expressive arm mo …