travis

That was the name of my cat.

This repository contains various ROS Noetic packages for an Indoor autonomous differential drive rover with ODCL. I built this to keep me occupied in my free time after working a job and on a startup during the day.

Setup instructions:

I will have to retrieve commands and setup scripts from the robot hardware. Please ping me if you need it or I will update the README at a later date.

Software:

• Built on ROS Noetic
• Darknet-ros package using yolo v3 for object detection (I wasn't into ML/CV back then and hence)
• NavStack for SLAM using AMCL and path planning using GlobalPlanner and eband local planner
• Robot bringup script on power as systemd service
• I get an email with its current IP and URL for proxy via ngrok for remote access

Hardware:

• Simple custom hardware and CAD/URDF model designed in Fusion 360
• Jetson Nano for main compute
• ESP-32 S3 running ROS-Serial for low-level control and diff-drive controller
• RP LiDAR A1 2D lidar for mapping
• MD10C motor drivers(I just had them on hand)
• 12V Brushed DC geared motors with quadrature encoders
• USB webcam for ODCL
• 12V Li-ion battery
• Mobile power bank to power LiDAR
• 12V-5V 3A buck converter for Jetson Nano
• A random caster wheel I found in my stash

CAD model:

Final Simulation environment:

Navigation test:

Final Simulation demo:

Partially assembled hardware (I don't seem to have the finished hardware photos):

Hardware testing(untuned. I dismantled the hardware without more photos or videos):