This is a repository for TIR-ANT's (Tracked Inspired Robot Autonomous Navigation Tool) source-code.
The TIR-ANT is a tracked mobile robot with Simultaneous Localisation and Mapping (SLAM) capabilities. It is a Ubuntu Jammy, ROS2-Humble based robot. The robot's main hardware specifications are:
- Raspberry Pi 4B 8GB
- Adafruit BNO055 absolute orientation IMU
- Intel RealSense D435
- Hokuyo URG-04LX-UG01 2D laser rangefinder
- ESP32 DevKit-C
The name of the repository is an homage to the donor robot who donated its locomotion apparatus so that the TIR-ANT could be built, the Traxter robot.
This repository contains four branches:
- The
tirantbranches are the ones compatible with the robot itself and can run on it. - The
workstationbranches are the ones that should run on the user's workstation. The main difference between these branches and thetirantones is the inclusion of the gazebo-based simulation packages which are not compatible with the Raspberry Pi 4B's chip architecture. - The branches with
-stablein their name are branches which only thoroughly tested code can be pushed to. - The
-devbranches are for code testing and prototyping.
These packages should be downloaded to a ROS2 Humble workspace in a src folder. The necessary dependencies should be installed by running the following command on the workspace's root directory:
rosdep install --from-paths src -y --ignore-src
However, managing dependencies is usually not as simple as running one single command. For sanity's sake, I listed all the packages installed on the TIR-ANT in here.
The process of turning on the robot and making it run on a specific setup is explained here.
This work was developed by Francisco Gonçalves to obtain the Master of Science Degree in Mechanical Engineering at Instituto Superior Técnico of Lisbon University.
License to be determined
Videos of the TIR-ANT working are made available on TIR-ANT's Youtube channel.
The dissertation on the project and its extended abstract are available at: Instituto Superior Técnico's Digital Library