tlhx_bot

My first ever ROS2 robot project

Required external dependencies

Openni2_camera (on ros-drivers)

git clone https://github.com/E12-CO/openni2_camera.git

lidarslam_ros2 (by rsasaki0109)

git clone --recursive https://github.com/TiNredmc/lidarslam_ros2

Required internal dependencies

• depth_image_proc
• depthimage_to_laserscan
• robot_state_publisher
• imu_filter_madgwick
• joint_state_publisher
• joint_state_publisher_gui
• xacro
• ros-humble-libg2o

Hardware Requirement (Tentative)

• Orange Pi Zero 3 4GB
  • Ubuntu Jammy server image (download from orange pi website)
  • python SYSFS GPIO library (udev rule here)
• Asus Xtion (PS1080-E3IWBD001305)