made by. Kim Dong Min

environment setup

My sad robot(bacause didn't have enough budget)

finished model

added deliverly case and jimbal

proto type model ⇒ this model was used to mapping and driving test

using (ros noetic , rapberry pi4, ydliar x4-pro ,cartographer)

• ROS 20.04 (install)

  • How to install
  • make catkin_ws

• raspberry pi4

  • How to connect SSH(using hotspot) and install ros in raspberry pi 4

• cartographer set

  • install cartographer
  • ydlidar_ros install

• cartographer slam setup

• cartographer slam launch (move_base , amcl)

mapping

• ydlidar launch
• rf2o_laser_odometry.launch
• cartographer_mapping.launch
• move_base.launch
• amcl.launch
• move robot by keyboard input(python code)

mapping video :

https://youtu.be/2odHFJyBGFQ

navigation

• ydlidar launch
• rf2o_laser_odometry.launch
• cartographer_navigation.launch
• move_base.launch
• amcl.launch

driving and obstical avoidance video:

https://youtube.com/shorts/1oX8lRrkF-Q?feature=share