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We need to write a code which contains:

1. Visual recognition of the object (e.g. juice, book) that TurtleBot tries to recognize. This may be the most difficult part and I am still not sure which libraries are the most suitable. Perhaps RoboEarth detector?

2. Navigation implementation (not by rviz but directly from the code) which calls gmapping, acml, move_base, etc.

3. Main: the strategy designed by you (e.g. circulate the room according to a particular trajectory; when it sees the book then turns right, etc.) Alternatively you may try Explore stack.

Actually I am trying to do the same thing. Perhaps we can help each other :-)

My email is chik-david at brain.kyutech.ac.jp