melona0826/injiget_char

Injiget_char Project - (KAIST CS470 Final Term Project)

Injiget_char

💁 Introduction

(⬆️ You can see the demostration video by click above images ⬆️)

Injiget_char is OCR based Autonomous Forklift System Project.
This project for the 2023 Spring KAIST CS470 (Introduction to Artificial Intelligence) [Prof. Daehyng Park]
Our base platform is TURTLEBOT3 and we modify the hardware.
The Block diagram of Injiget_char system is below.

Project Members

• Jin Kwon

  (KAIST, School of Computing)
  kwonjin@kaist.ac.kr

• Myungwoo Jung

  (KAIST, Department of Mechanical Engineering)

• Dongwon Choi

  (KAIST, School of Computing)
  cookie000215@kaist.ac.kr

• Youngwoo Jung

  (KAIST, Department of Chemistry) jysys123@kaist.ac.kr

• Taewoong Yun

  (KAIST, Department of Aerospace Engineering)

🌏 Environment

💻 System Environment

• Ubuntu 20.04 + ROS Noetic

  (For install ubuntu 20.04 on Jetson Nano, we refer this page)
  https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image

🪛 Hardware Environment

• Jetson Nano
• TURTLEBOT3
• 2 Servo Motors
• 3D printed frame

🛠️ Servo motor & Jetson Nano GPIO pin

We modify the hardware for build a Tilt & Fork system.
So, before you launch this system, you must build hardware first ❗
Below is the table of the GPIO pin of Jetson Nano connected each servo motor.

Servo Motor	GPIO Pin
Tilt Motor	33
Fork Motor	32

⚠️ If you change the GPIO Pin of servo motors, you must change the pin number variable in the below files.

line number	file path
10	servo_control/scripts/fork_control.py
10	servo_control/scripts/tilt_control.py

💻 Install

✔️ Injiget_char (Jetson Nano)

• usb_cam

  We use usb_cam package usb_cam for streaming with usb webcam.

  ⚠️ You must type below command at your catkin workspace at Injiget_char (Jetson Nano)

  git clone -b develop https://github.com/ros-drivers/usb_cam.git
  

• injiget_char

  In our github, injiget_char branch is packages for injiget_char (Jetson Nano)

  ⚠️ You must type below command at your catkin workspace of Injiget_char (Jetson Nano)

  git clone -b injiget_char https://github.com/melona0826/injiget_char.git
  

✔️ Host

• injiget_char

  In our github, host branch is packages for injiget_char

  ⚠️ You must type below command at your catkin workspace of host

  git clone -b host https://github.com/melona0826/injiget_char.git
  

🏃 Launch

• ✔️ Injiget_char (Jetson Nano)

  • Launch usb_cam launch file

  roslaunch usb_cam usb_cam.launch
  

  • Launch injiget_char servo control launch file

  roslaunch injiget_char servo_control.launch
  

• ✔️ Host

  • Launch injiget_char start launch file

  roslaunch injiget_char start.launch
  

👷‍♂️ Information & connect

💁 If you want to know more detail information, you can refer our github WIKI page ❗

🤙 If you want to connect us, feel free to mail below mail address ❗

kwonjin@kaist.ac.kr