ROS mobile robot

A mobile robot with ROS based control system that can map the area.

Jarosław

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Description

A mobile robot with ROS based control system. It's able to map the surrounding area using a rplidar and provide a real time video from the front camera. The main core of this vehicle is a CORE2 made by Husarion.

Details

This robot was used for my engineering diploma. It is able to move around, record (and/or) show the user the image from the front camera and create a map using the RpLidar. It also has a ROS based control system.

The main unit used to power this thing was a CORE2 made by Husarion. Big thanks to this company for creating such a great robot programming platform.

Files

launcher.launch ROS launcher for lidar and camera launch - 1.95 kB - 02/05/2018 at 15:47		Download
poruszanie.mp4 Showcase of the robot mobility MPEG-4 Video - 10.45 MB - 02/05/2018 at 15:42		Download
kamera.mp4 Video from the USB camera MPEG-4 Video - 1.14 MB - 02/05/2018 at 15:42		Download
mapowanie.mp4 An example of mapping MPEG-4 Video - 140.23 kB - 02/05/2018 at 15:42		Download

Components

4 × DC Motor
1 × CORE2 + RPi
1 × RpLidar
3 × Li-ion battery
1 × Plastic cover

View all 9 components

Build Instructions

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1

Preparing the base

First, you will need to cut the aluminium plate. The exact size depends on the motors - they need to fit in a way that will allow to connect the wires.
2

Adding the motors

The motors need to be attached at the bottom of a robot in a way, that will block them from moving or rotating. In this case it was done by screwing them to the base with some pipe holders.
3

Setting the control unit

Now you want to flip the robot back up. If your cover has two parts, you may want to attach one now like in this case. Next, screw / tape / glue the CORE2 and batteries to the robot.