Lidarbot

A differential drive robot is controlled using ROS2 Humble running on a Raspberry Pi 4 (running Ubuntu server 22.04). The vehicle is equipped with a Raspberry Pi camera for visual feedback and an RPlidar A1 sensor used for Simultaneous Localization and Mapping (SLAM), autonomous navigation using the Nav2 stack. Additionally, an MPU6050 inertial measurement unit (IMU) is employed by the robot_localization package on the robot, to fuse IMU sensor data and the wheel encoders data, using an Extended Kalman Filter (EKF) node, to provide more accurate robot odometry estimates.

Hardware components are written for the Waveshare Motor Driver HAT and MPU6050 sensor to be accessed by the ros2_control differential drive controller and IMU sensor broadcaster respectively, via the ros2_control resource manager.

<img src=docs/images/real_mapping.gif width="600">

A preprint of this work is available here.

• Lidarbot
  • 🗃️ Package Overview
  • 🧰 Hardware
    • Part list
    • Project Wiring and Assembly
  • 🔌 Installation
    • Development Machine setup
      • WiringPi
      • MPU6050 library
      • Sourcing ROS Installation
      • Gazebo Fortress
      • Display lidarbot model in RViz
      • Teleoperation
      • Twist mux
    • Lidarbot setup
      • Motor Driver HAT
      • Raspberry Pi Camera
      • MPU6050 offsets
  • Network Configuration
  • ros2 control Framework
    • Hardware components
      • System
      • Sensor
      • Actuator
    • Resource Manager
    • Controllers
      • Differential Drive Controller
      • Joint State Broadcaster
      • IMU Sensor Broadcaster
    • Controller Manager
  • Test Drive
    • Robot localization
    • Gazebo
    • Physical
  • Mapping
    • Gazebo
    • Physical
  • Navigation
    • Gazebo
    • Physical
  • Aruco package
    • Generate ArUco marker
    • Webcam calibration
    • Aruco trajectory visualizer node
  • Acknowledgment

🗃️ Package Overview

• lidarbot_aruco : Contains configuration, launch and node files to use ArUco markers with lidarbot.
• lidarbot_base : Contains the ROS2 control hardware component for the lidarbot with low-level code for the Waveshare Motor Driver HAT.
• lidarbot_bringup : Contains hardware component for the MPU6050 module, launch files to bring up the camera, lidar and the real lidarbot.
• lidarbot_description : Contains the URDF description files for lidarbot, sensors and ros2 control.
• lidarbot_gazebo : Contains configuration, launch and world files needed to simulate lidarbot in Gazebo Classic.
• lidarbot_gz : Contains urdf, launch and world files needed to simulate lidarbot in Gazebo Fortress.
• lidarbot_navigation : Contains launch, configuration and map files used for lidarbot navigation.
• lidarbot_slam : Contains configuration files for the slam toolbox and RViz, launch file to generate maps using SLAM.
• lidarbot_teleop : Contains configuration and launch files used to enable joystick control of the lidarbot in simulation and physically.

🧰 Hardware

Part list

The following components were used in this project:

Some other tools or parts used in the project are as follows:

File truncated at 100 lines see the full file