Jetbot-ros2

https://user-images.githubusercontent.com/18732666/129964798-20e26b2a-da38-41fb-a794-ec31973ca0cb.mp4

This is an implementation of a mobile robot in ros2. The software includes the following functionalities:

• Teleoperation through websockets with live video feed using webrtc (aiortc).

• Integration of Intel realsense d435 and t265 cameras for depth estimation and localization respectively.

• Autonomous Navigation using Nav2

• Autonomous Exploration using m-explore

• 2D SLAM with slam-toolbox.

• 3D SLAM using rtabmap.

I used the Xiaor Geek Jetbot as a base platform and modified it to include a wide-angle camera, as well as the Intel Realsense d435 and t265.

Requirements

• ROS2 eloquent.
• librealsense2.
• Motor Drivers - In this case, installed from the jetbot’s repository.

Installation

1. Clone this repo and its submodules.

    git clone --recurse-submodules https://github.com/jdgalviss/jetbot-ros2.git
    

1. Clone additional thirdparty packages
   1. SLAM-TOOLBOX

        cd jetbot-ros2/dev_ws/src
        git clone -b eloquent-devel git@github.com:stevemacenski/slam_toolbox.git 
        

2. Navigation2

        git clone https://github.com/ros-planning/navigation2.git --branch eloquent-devel
        

3. m-explore

        git clone -b eloquent https://github.com/robo-friends/m-explore-ros2.git
        

4. BehaviorTree.CPP

        git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git
        cd BehaviorTree.CPP
        git checkout 3.5.1
        cd ../..
        

1. Copy our modified files

    cd thirdparty_files
    source copy_files.sh
    cd ../..
    

<!-- colcon build --packages-select motion_control -->

Teleoperation support

1. Install aiortc for webrtc support.

    pip3 install crc32c==2.0
    pip3 install aiortc==0.9.28
    pip3 install aiohttp==3.6.2
    

1. Install pyfakewebcam so that camera frames can be modified inside a ROS2 node and then shared through webrtc:

    apt-get install v4l2loopback-utils
    pip3 install pyfakewebcam==0.1.0
    

1. Write a service that creates fake webcam devices that can be used to share camera frames.

    gedit /etc/rc.local
    

Copy and paste in file:

```bash

File truncated at 100 lines see the full file