axyz1288 / mini_agv

Mini-AGV

Mini-AGV is a low cost and small volume AGV with AI algorithm. With Mini-AGV, you can reduce your human resource and increase productivity.

Spec

• Embedding system: nvidia nano
• Motor: robotis mx-106 x 4
• Lidar: Slamtec M1M1
• Battery: ELLMAX 5800mAh x 2

Ability

• Max velocity: 0.3 m/s
• Max Load: 30kgw

Setup Process

Master

1. Install Microk8s and kubelet CRI change to docker.
2. Set Docker default runtime to nvidia docker runtime.
3. Lable master node agent=master and all agv nodes agent=agv
4. Set apiserver flag --allow-privileged=true
5. Deploy configmaps, storage/master and master.yaml.

AGV

1. Set Jetson nano username to agv for mount path and desktop name to agv1, agv2, ... agvN for ros.
2. Disable nano power_save (sudo iw dev wlan0 set power_save off).
3. Disable swap permanently.(sudo swapoff -a && sudo sed -i.bak '/ swap / s/^(.*)$/#\1/g' /etc/fstab)
4. Install Microk8s and disable ha-cluster
5. Deployment storage/agv and agv.yaml.

Notice

1. tf
2. map.stcm path (Dockerfile & AGV.cpp)

Support Information

Email: [e-mail]

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