Intelligent-Mobile-Robot-IMR

We've built an autonomous mobile robot entitled IMR ( Intelligent Mobile Robot ).
We will show How to build an Autonomous car with ROS.
We made this repository of our mobile robot to help people install and configure their robots from the original Linorobot repository without encountering any problems.

Tutorial

You can read the full tutorial on how to build your Autonomous car on our website.

Requirements

Hardware

• Kinect v2
• Arduino Mega
• Motors driver (l298)
• DC motor with Encoder (4wd)
• esp 32
• laptop (for processing)
• servo motors (for your arm)
• Step Down module 5v 3A
• MPU IMU 6050
• Batteries

Software

• Ubuntu 18.4 here.
• ROS Melodic

Structure

• Any shape compatible with your case

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Installation

we used the Linorobot packages here and we thank the Linorobot team to build this package
these steps like prerequisites make sure you clone the repo from a melodic branch or any alternative branch mentioned in ROS WIKI

• Install your Ubuntu follow these steps
• Install ROS Melodic follow these steps
• Install Arduino use Arduino in my Repo
• Create workSpace follow these steps
• Install Kinectv2 driver
• finally use my workspace

Install Arduino

copied files in from my Repo to the home directory or install Arduino from the official website and follow these steps to install libraries make sure you install the Rosserial library correctly you can compare it with the one in my files

Install Kinect v2

got to libfreenect2 and cloned the repo in home

git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
sudo apt-get install build-essential cmake pkg-config
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libturbojpeg0-dev
sudo apt-get update
sudo apt-get install libglfw3-dev
sudo apt-get install beignet-dev # (find the appropriate one)

Then install the python freenect2 lib
add the following line export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$HOME/freenect2/lib/pkgconfig and export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/freenect2/lib to ~/.bashrc

in libfreenect2 directory

mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2 -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2
make
make install

sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
./bin/Protonect # to test your kinect

then install iai-Kinect2
Follow these steps I recommended to use the official Repo here

Use my WorkSpace

copy directories in v2-our work space to your workspace
Follow this steps

cp "v2-our work space/*" ~/catkin_ws/src
unzip linorobot.zip
rm linorobot.zip
unzip rosserial.zip
rm rosserial.zip
unzip rtabmap_ros.zip
rm rtabmap_ros.zip
cd ~/catkin_ws
catkin_make

if you found any errors with catkin make, make sure you have installed the compatible package with

sudo apt install ros-melodic-yourpackage

Finally follow these Tutorial Linorobot to understand more about How to build your autonmous car

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discover our website from URL: https://mostafasaleh1.github.io/graduation-project-website/

Thanks our Team