/mybot

Primary LanguagePythonApache License 2.0Apache-2.0

Indoor Delivery Robot Project

Prerequisite Software

  1. Ubuntu 20.08
  2. Ros2 Melodic
  3. Python 3.8 (or newer version)

Prerequisite Hardware

  1. STM32L432KC
  2. Jetson Nano
  3. Lidar(A1M8)

How to run

  1. In Jetson Nano
cd mybot
source install/setup.bash
cd src 
ros2 launch mybot launch_robot.launch.py
ros2 launch mybot rplidar.launch.py
  1. In Local Machine
cd mybot
source install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped
rviz2 -d src/mybot/config/slam_sim.rviz
ros2 launch mybot navigation_launch.py use_sim_time:=false map_subcribe_transient_local:=true

Demo Video

Demo.1.mp4