The goal of this project was to build a robot to be able to move to a specified point in the room autonomously. The hardware that I used was a Jetson Xavier NX, a Roomba 560, and an Intel RealSense Depth Camera D415. I had a lot of fun putting everything together and seeing the robot map and navigate my room successfully. I hope that I can help someone with their project by posting mine so here is a link to all the steps that I took to get things working: GitHub - johnstonbrendan/Turtlebot_Jetson_Xavier_NX: How to setup ROS and Turtlebot on the Jetson Xavier N
There’s still way more that can be done but what I’ve tried to do is put together a staring point for anyone attempting to use this hardware for future products, as well as integrating it with ROS. Here is a gif of the final product.