JunBot Core

A Simple ROS package for JunBot. This package is used for collecting data and mapping the environment.

Main features:

• Mapping with T265 and 2D Lidar (Sick Tim751)
• Navigation
• Relocalization (Using T265 and AMCL/Odometry fusion/junbot_relocalization)
• Planner's costmap_2d parameter custom (Using junbot_adaptive_planner/planner_reconfigure)
• User interface (Using junbot_gui and junbot_mobile_app)
• Object mapping (Using junbot_adaptive_planner/object_mapping - very simple implementation)
• Object map layer (Using junbot_adaptive_planner/costmap_objects_layer)
• Semantic Planner (Using junbot_adaptive_planner/Semantic Planner)
• SemanticMapping

Overview

Hardware

• Custom platform
• Sick Tim751
• Jetson AGX Orin (32GB RAM)
• Realsense T265
• Realsense D455 (x2)
• ZED 2 (Option for object mapping package)

Software

• Ubuntu 20.04
• Jetpack 5.1
• CUDA 11.4
• Realsense SDK (2.43.0)
• Realsense ROS (2.2.23)
• ROS Noetic
• OpenCV 4.5.0
• Qt 5

Install

Follow this link

Usage

# Build map
roslaunch junbot_slam junbot_slam.launch
roslaunch cartographer_junbot t265_camera.launch
roslaunch junbot_bringup sick_tim_781.launch

# Navigation 
roslaunch junbot_bringup junbot_core.launch
roslaunch junbot_navigation junbot_navigation.launch 

# User interface
rosrun junbot_gui junbot_gui

# Relocalization by using T265 and AMCL
rosrun amcl_relocalization amcl_relocalization 

# Planner's costmap_2d parameter custom 
rosrun planner_reconfigure planner_reconfigure_node

Test

Pending for demo

Related Project

• SemanticMapping
• junbot_relocalization
• junbot_odometry_fusion
• junbot_mobile_app
• junbot_adaptive_planner

Acknowledgement

• Turtlebot3
• Cartographer
• t265 robot navigation