Hello!
I would like to share 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 the perception, mapping, localization, teleoperation, and exploration 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
- Exploration using m-explore.
The software is implemented using ros2. 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
