I would like to share the current progress of my autonomous mobile robot project using Jetson Nano.
It’s undeniable that Mobile robots are becoming increasingly important for a wide range of industries. Today we can find them in warehouses, distribution centers, manufacturing intralogistics, hospitals, and agriculture. Moreover, the future holds a further expansion of Mobile Robots into unstructured environments like roads, sidewalks, homes, etc.
In general, an autonomous mobile robot consists of the following components: Sensing, Perception, Mapping, Localization, Planning, and Control.
This project currently focuses on sensing, perception, mapping, localization, and teleoperation aspects of an AMR.
So far, the software includes the following functionalities:
Teleoperation through WebSockets with live video feed using Webrtc, i.e., aiortc.
Custom Integration of Realsense d435 and t265 cameras for depth estimation and localization respectively.
2D SLAM with cartographer.
3D SLAM using Rtabmap: GitHub - introlab/rtabmap_ros at ros2
The software is implemented using ros2 and it’s still a work in progress. You can find the repo here: GitHub - jdgalviss/jetbot-ros2: ROS 2 implementation of a Teleoperated robot with live video feed using webrtc and SLAM using realsense's stereocameras. Running on a Jetson Nano