Repository for Mobile Robot by MARS, capable of autonomous navigation and transfer of goods in a high medical-risk environment, thus minimizing human to human interaction.
- Autonomous robot with medical items carrying capacity in highly contagious medical conditions.
- Uses SLAM and navigation techniques to map/localize and travel in hospital/similar conditions.
- Interaction with environment (lifts) and people via Iot protocols and UI mounted on the robot respectively (under work).
- Self sanitizes on Auto-Sanitization stations after custom-set iterations (under work).
- This package contains robot URDF, worlds, maps for navigation.
-
Clone the repo, build in your preferred system and source (
source devel/setup.bash
) the workspace -
Command
roslaunch robot robot.launch
will launch the world with robot in a gazebo world (suitable for easier time with SLAM and navigation) and planning scene in RViz with TF, camera, robotmodel already set in it.
- Contains node
line_follower
to follow a black line on a white background by using camera stream viasensor_msgs
messages (No openCV). line_follower.launch
file launches the code for line following, but does not contain the LFR arena itself.
- Add the
models
folder to your gazebo path (one of the possible pre-set path is/home/user/.gazebo/models
). - After gazebo environment is launched, add your arena from
insert
option and delete the existing ground plane.
- This package contains all the files related to ros naviagtion stack used for our robot.
- Contains all costmaps and AMCL parameters.
- After robot is lauched, command
roslaunch robot robot_navigation.launch
will start the ros navigation stack and allows the robot to be controlled via waypoints or simple goals.
- C++14
- python 2.x
- Raspberry pi 3B (setup given below)
- ROS Melodic
- Download the Ubuntu image for raspberry pi 3.
- Flash the image with preferable software.
- Follow the standard ARM installation instructions from ROS Wiki to install ROS Melodic.
sudo apt-get update
sudo apt-get upgrade
sudo apt autoremove