AGV

Lidar guided autonomous, mobile robot based on ROS.

Start

 $ catkin_make  
 $ source /devel/setup.bash  
 $ roslaunch raspi_ctrl raspi.launch  

Remote RVIZ client

export ROS_MASTER_URI=http://<ROBOT IP>:11311/
export ROS_IP=<REMOTE RVIZ CLIENT IP> 

see /rviz/setup_ros_env.sh

$ roslaunch raspi_ctrl rviz.launch

Manual keyboard control via Teleop twist keyboard

Lidar SLAM

ROS TF

Setup

• Ubuntu 18.04 for ARM
• ROS Melodic
• $ sudo ./ros_install.sh

Hardware

• Raspberry Pi 3
• L298N dual H-Bridge
• Ydlidar X4
• Adafruit PowerBoost 1000
• LiPo 3.7V
• 2x 9V battery

Motor wiring

H-Bridge	Raspi GPIO	Motors
IN1	13 (PWM1)
IN2	19 (PWM1)
IN3	18 (PWM0)
IN4	12 (PWM0)
OUT1		M1 forward
OUT2		M1 backward
OUT3		M2 forward
OUT4		M2 backward

Robot assembly

FreeCAD designs

Top power & control	Lidar
Bottom power

Project structure

├── README.md
├── cad
│   └── README.md
├── doc
│   ├── cad_designs/
│   ├── photos_assembly/
│   ├── frames.pdf
│   ├── raspberry_pi_3_PWM_pins.png
│   ├── rqt_graph.svg
│   ├── ydlidar_rviz.png
│   └── wiring_hbrige_raspi.jpg
├── ros_install.sh
└── src
    ├── CMakeLists.txt -> /opt/ros/melodic/share/catkin/cmake/toplevel.cmake
    ├── motor_pkg
    │   ├── CMakeLists.txt
    │   ├── bin
    │   │   └── motor_ctrl
    │   ├── package.xml
    │   ├── setup.py
    │   └── src
    │       └── motor_ctrl
    │           ├── __init__.py
    │           ├── motor.py
    │           └── name_ascii.txt
    ├── raspi_ctrl
    │   ├── CMakeLists.txt
    │   ├── launch
    │   │   ├── costmap_configs
    │   │   │   ├── base_local_planner_params.yaml
    │   │   │   ├── costmap_common_params.yaml
    │   │   │   ├── global_costmap_params.yaml
    │   │   │   └── local_costmap_params.yaml
    │   │   ├── mapping_default.launch
    │   │   ├── raspi.launch
    │   │   ├── rviz.launch
    │   │   └── x4_lidar.launch
    │   ├── package.xml
    │   └── rviz
    │       ├── rviz.rviz
    │       └── setup_ros_env.sh
    ├── teleop_twist_keyboard
    └── ydlidar_ros