CaBot

CaBot (Carry on Robot) is an AI suitcase to help people with visual impairments travel independently. Can you imagine walking around at airports without vision? It’s a huge open space, and there are lots of things and people so that it is hazardous for them to walk around at airports. see project detail

CaBot v2

CaBot v2 has been migrated to ROS2 (humble). A refactoring has changed its structure (Dec. 2023), previous development branch is dev-ros2. After the refactoring, most of ROS2 packages for the CaBot are managed under sub repositories. Please check those repositories for the details.

Sub repositories

• cabot-common
  • common docker configuration, python scripts, cabot_msgs, and etc.
• cabot-navigation
  • navigation, localization, and queue packages
• cabot-drivers
  • cabot serial, motor controller, wireless scanner, andhardware launch configuration.
• cabot-people
  • people detection and tracking
• cabot-description
  • CaBot URDF

Hardware (example)

• Robot frame + handle
  • CaBot2-E2 model
  • CaBot2-GT model
• LiDAR
  • Velodyne VLP-16
• Stereo Camera(s)
  • 1 RealSense camera (D435)
  • 2~ RealSense cameras (with a PC or NUC + Jetson cluster)
• Motor Controller
  • ODrive Motor Controller v3.6 (Firmware v0.5.1)
• Micro Controller (Handle and sensors)
  • cabot-arduino for controlling handle, IMU, and other sensors
• GNSS Receiver (optional)
  • GNSS board with ublox ZED-F9P module
• Processor
  • PC with NVIDIA GPU (ZOTAC Magnus EN72070V)
  • NUC (Ruby R8) + Jetson Mate (multiple Jetson Xavier NX)

Localization

• mf_localization (cartogrpher+iBeacons/WiFi)

Tested Environment

• PC
  • Host Ubuntu 20.04
  • Docker v20
  • docker-compose v2.30.3
• Jetson
  • Host Ubuntu 20.04 (Jetpack 5.1)
  • See jetson for detail

Development

• see here

Release

• see here

Setup

• import third-party repos by using vcstool
  • dependency-release.repos will be used for the vcs command

  pip3 install vcstool # if you don't have vcs command
  ./setup-dependency.sh
  

• run all scripts in tools based on your requirements

  cd tools
  ./install-service.sh -i            # need to install to configure system settings
  ./install-docker.sh                # if you need docker and docker compose
  ./install-arm-emulator.sh          # if you build docker image for Jetson on amd64 CPU
  ./install-host-ros2.sh             # if you watch system performance or debug
  ./setup-usb.sh                     # if you run a physical robot
  ./install-realsense-udev-rules.sh  # if you use USB realsense camera
  ./setup-display.sh                 # for display connections from docker containers
  

Prepare cabot_site

• Copy your built cabot site package into cabot-navigation/cabot_site_pkg
• or clone your cabot site into cabot-navigation/cabot_sites
  • this requires development workspace build
  • you can try with samples

    cd cabot-navigation
    ./setup-sample-site.sh
    

• ./manage-pkg.sh -r <repo> -v <version> -d -u for downloading and unzip release pacakge
  • you can set CABOT_SITE_PKG_DIR to change cabot site package directory

Prepare Docker Images

• You can pull the latest docker images from docker hub, run the following command

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