My Robot

This is a ROS 2 Humble package for controlling a two-wheeled mobile robot designed for navigation using NAV2. The project includes both simulation in Gazebo and deployment on a real robot equipped with a Raspberry Pi 4 running Ubuntu and an Arduino Uno for low-level motor control. The robot is also fitted with an RPLidar A1 for 2D mapping and an ESP32 camera.

Key Features

• Low-level control: Implemented on an Arduino Uno, communicating with the Raspberry Pi via the DiffDriveArduinoHardware interface.
• Sensors: Equipped with an RPLidar A1 (2D LIDAR) and an ESP32 camera for vision.
• Navigation modes:
  • Mapping Mode: For SLAM using the slam_toolbox.
  • Localization Mode: For autonomous navigation using NAV2.

Simulation and Real Robot Support

This package supports both Gazebo simulation and deployment on the real robot. Below are the launch commands to start the robot in different modes:

Launching Simulation

• Mapping Mode (SLAM):

  ros2 launch my_robot full_sim_mapping.launch.py

• Localization Mode (Navigation with Nav2):

  ros2 launch my_robot full_sim_localization.launch.py

Launching on the Real Robot

• Mapping Mode (SLAM):

  ros2 launch my_robot full_real_robot_mapping.launch.py

• Localization Mode (Navigation with Nav2):

  ros2 launch my_robot full_real_robot_localization.launch.py

Package Structure

my_robot/
├── description/                # Robot description files
│   ├── *.xacro                 # Xacro files for robot description
│   └── *.urdf                  # URDF files for the robot
├── launch/                     # Launch files for both simulation and real robot
│   └── *.launch.py             # Launch scripts
├── map/                        # Map files
│   ├── *.yaml                  # YAML map files for localization
│   └── *.pgm                   # PGM files for occupancy grids
├── params/                     # Parameter configuration files
│   └── *.yaml                  # YAML configuration for different nodes
├── rviz/                       # RViz configuration files
│   └── *.rviz                  # RViz setup files
├── worlds/                     # Gazebo world files
│   └── *.world                 # World description for simulation
├── CMakeLists.txt              # CMake configuration
├── LICENSE.md                  # License information (Apache 2.0)
├── package.xml                 # ROS 2 package manifest
└── README.md                   # This README file

Hardware Setup

• Raspberry Pi 4: Running Ubuntu and managing high-level navigation tasks.
• Arduino Uno: Handling low-level motor control via DiffDriveArduinoHardware interface, communicated over a serial connection.
• Sensors:
  • RPLidar A1: For 2D SLAM and obstacle detection.
  • ESP32 Camera: Providing video feedback (optional use).

Prerequisites

• ROS 2 Humble installed on your machine.
• slam_toolbox for SLAM and nav2 for autonomous navigation.
• Hardware setup according to the specifications.

Installation

Clone the repository and build it using colcon:

git clone https://github.com/yourusername/my_robot.git
cd my_robot
colcon build

Usage

Make sure your Arduino Uno is flashed with the correct firmware from my_robot_arduino_ros and connected to the Raspberry Pi via serial.

For Simulation

Use the launch commands specified above for either mapping or localization in Gazebo.

For Real Robot

Launch the respective full_real_robot_* launch files for mapping or localization on the physical robot.

License

This project is licensed under the Apache License 2.0. See the LICENSE.md file for details.