Slambot Real ROS2 Robot - Slam Mapping & Nav2 Navigation Demo | Slam Toolbox, ros2_control, Lidar скачать в хорошем качестве

Slambot Real ROS2 Robot - Slam Mapping & Nav2 Navigation Demo | Slam Toolbox, ros2_control, Lidar

A custo-built diff-drive robot running on ROS (Jazzy) that can be launched into ‘map mode’ (where it can be teleoperated whilst performing slam mapping) and then launched into ‘nav mode’ where it uses Nav2 to navigate the environment using the map it made. The robot uses an IMU sensor, wheel encoders, a lidar, and a camera (the camera so the user can map an indoor environment without having to physically follow the robot around). Motor control and IMU sensor are handled by a Raspberry Pi Pico. Compute, lidar, and the main ROS nodes are run by an onboard Raspberry Pi 5. ROS program is a fully distributed system allowing simulation work to be done on a dev machine during development (e.g. Gazebo, RVIZ) and also for the dev machine to be used for visualisation when mapping with the real robot. Physical and software design robust enough to handle multiple environments including different surfaces, and differing complexity of indoor environments.