{"repo":"TheNoobInventor/lidarbot","free":true,"listed":false,"github":"https://github.com/TheNoobInventor/lidarbot","clone":"git clone https://github.com/TheNoobInventor/lidarbot.git","description":"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 and obstacle avoidance.","language":"Python","stars":225,"topics":["gazebosim","imu","lidar","mpu6050","pca9685","raspberry-pi","ros2","ros2-humble","rplidar","rviz2"],"license":"BSD-3-Clause","category":"self-hosted-apps","readme_excerpt":"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. 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 ","default_branch":null,"files":null,"tree":[],"storefront":"/r/TheNoobInventor","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/TheNoobInventor/lidarbot/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}