/astro2

Software for an Autonomous Delivery Robot capstone project, built with ROS and an array of single-board computers.

Primary LanguageC++

ASTRO 2 - Autonomous Delivery Robot

Prototype 0.4.0

Stable teleop with localization

Current Features

  • Runs on ROS Kinetic
  • Depedency installation scripts for amd64 and armhf
  • Open-loop differential drive
  • Self-contained system
  • Manual Xbox 360 wireless remote control
  • Full URDF robot description
  • Robot state publisher with limit checking
  • Stable EKF robot localization
    • Fuses encoders, visual odometry, and IMU
  • Basic RTABMap mapping

Current Hardware

  • MacBook Pro (i5 quad core, 16GB ram, Ubuntu 16.04)
  • 2 Arduino UNOs
  • 1 Arduino Nano
  • 1 Intel RealSense D415
  • 1 Adafruit BNO055 9-axis IMU sensor
  • 2 Andy Mark PG71 motors (with built-in encoders)
  • 1 Cytron 10A Dual-Channel Motor Driver
  • 2 LS7366R encoder counters
  • 2 40MHz crystals for the encoder counters
  • 1 12V 18Ah lead-acid battery
  • 1 12-24V to 5V power regulator

Stable teleop system with localization, next step is navigation.