Use the basic ROS system to create maps with gmapping and use YOLO to detect objects.
- Raspberry pi4
- STM32
- RPLidar A1
- Pi Camera
Raspberry Pi4
- Set ROS_MATER_URI bash according to the host's IP according to this link: https://answers.ros.org/question/272065/specification-of-ros_master_uri-and-ros_hostname/
- run roscore
- rosserial git clone from https://github.com/ros-drivers/rosserial : rosrun rosserial_server serial_node _port:=/dev/ttyUSB0
- rplidar git clone from https://github.com/Slamtec/rplidar_ros : roslaunch rplidar_ros rplidar_a1.launch
- open camera rosrun my_cam image_publisher.py
Host
- Set ROS_MATER_URI bash according to the host's IP according to this link: https://answers.ros.org/question/272065/specification-of-ros_master_uri-and-ros_hostname/
- run roscore
- git clone differential-drive: https://github.com/jfstepha/differential-drive
- git clone slam-gmapping: https://github.com/ros-perception/slam_gmapping
- create map: roslaunch mobile_robot_autonomous_navigation myrobot_mapping.launch
- save map: rosrun map_server map_saver -f name
- run map: roslaunch mobile_robot_autonomous_navigation my_nav.launch
- subscribe image: rosrun my_cam image_subscriber.py