Youfork: Fully ROS 2 Homemade Mobile Manipulator

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Hi there.
I’m really happy to introduce my hobby robot named youfork. All components are driven by ROS 2 Eloquent on the Jetson Xavier.

youfork is a mobile manipulator for home tidy-up. The movie below shows a little first try of the home tidy-up by teleoperation.

youfork has a lot of devices inside:

  • NVIDIA Jetson Xavier
  • ROBOTIS Open Manipulator X
  • iRobot Roomba 643
  • Intel RealSense D435i
  • SlamTec RPLidar A1M8
  • 25,000mAh Battery
  • PS4 controller for teleoperation

youfork packages is being checked to build on CI with ROS 2 Eloquent and Foxy.
However the Jetson Xavier on youfork is currently running only on Ubuntu 18.04, so that I’ve checked to work youfork properly only on ROS 2 Eloquent and Ubuntu 18.04.

Repository:

Slides from ROS Japan UG #37 (in Japanese):

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