sean85914 / argbot

Building an indoor robot

ARGbot - NCTU ARG

Branch	Developer
Master	NCTU ARG Lab
devel-david	David Chen

Requirements

• ROS kinetic (Ubuntu 16.04)
• PCL (Point Cloud Library)

Hardware

Sensor

Laser Scanner

• RPlidar

Monocular Camera

• Pi camera

IMU

Ultrasound sensor

Installation

Package

$ sudo apt-get install ros-kinetic-gazebo-ros-*

How to build

$ cd
$ git clone https://github.com/championway/argbot
$ cd ~/argbot/catkin_ws
$ source /opt/ros/kinetic/setup.bash
$ catkin_make

Note: Do the following everytime as you open new terminals

$ cd self-driving-robot/catkin_ws
$ source environment.sh

Localization & Mapping

$ roslaunch hector_mapping mapping_no_odom.launch
(Hector SLAM without wheel odometry)

To do list:

• Test gmapping with hector slam
• Make sure how turtlebot3 localization works

Kinematics

Joystick control

Wheel odometry

Perception

Point Cloud

Image

Path Planning

RRT

A*