closetothe / astro2

Software for an Autonomous Delivery Robot capstone project, built with ROS and an array of single-board computers.

ASTRO 2 - Autonomous Delivery Robot

Prototype 0.4.0

Stable teleop with localization

Current Features

• Runs on ROS Kinetic
• Depedency installation scripts for amd64 and armhf
• Open-loop differential drive
• Self-contained system
• Manual Xbox 360 wireless remote control
• Full URDF robot description
• Robot state publisher with limit checking
• Stable EKF robot localization
  • Fuses encoders, visual odometry, and IMU
• Basic RTABMap mapping

Current Hardware

• MacBook Pro (i5 quad core, 16GB ram, Ubuntu 16.04)
• 2 Arduino UNOs
• 1 Arduino Nano
• 1 Intel RealSense D415
• 1 Adafruit BNO055 9-axis IMU sensor
• 2 Andy Mark PG71 motors (with built-in encoders)
• 1 Cytron 10A Dual-Channel Motor Driver
• 2 LS7366R encoder counters
• 2 40MHz crystals for the encoder counters
• 1 12V 18Ah lead-acid battery
• 1 12-24V to 5V power regulator

Stable teleop system with localization, next step is navigation.