This is the repo for the MR-Robot: ModulaR Robot Project, Mr robot is autonomous navigation robot made by A.T.O.M Robotics capable of doing multiple day to day operations such as mapping, navigation for transportation, sanitaion etc. Various other operations can also be performed thanks to its modularity.
If you’re interested in helping to improve our Project, find out how to contribute.
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Table of Contents
This is the repo for the MR-Robot: ModulaR Robot Project, Mr robot is autonomous navigation robot made by A.T.O.M Robotics capable of doing multiple day to day operations such as mapping, navigation for transportation, sanitaion etc. Various other operations can also be performed thanks to its modularity. If you’re interested in helping to improve our Project, find out how to contribute.
This is an example of how you may give instructions on setting up your project locally. To get a local copy up and running follow these simple example steps.
This is an example of how to list things you need to use the software and how to install them.
-
Ros
- Refer to our Ros installation guide
- Installing Navigation specific dependencies: map-server, move_base and amcl
sudo apt install ros-noetic-map-server ros-noetic-move-base ros-noetic-amcl
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Opencv
sudo apt install libopencv-dev python3-opencv
- Clone the repo inside your
Ros Workspacegit clone [email protected]:atom-robotics-lab/MR-Robot.git cd wiki
- Build the package
cd ~/catkin_ws catkin_make
- Launch the packages file by
roslaunch <package_name> <launch_file>
Use this space to show useful examples of how a project can be used. Additional screenshots, code examples and demos work well in this space. You may also link to more resources.
- The
mr_robot_descriptiondir contains all the bot model description files. - The
mr_robot_gazebodir contains all the world description files. - The
mr_robot_navdir contains all the config files for enabling navigation and planning.
In order to run the simulation you are required to do the following:
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For running the
navigation simulation.-
Switch to the main branch of the repository.
git checkout main
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Launch the gazebo world.
roslaunch mr_robot_gazebo turtlebot3_house.launch camera_enabled:=true lidar_enabled:=true kinect_enabled:=true
Alternatively, you can toggle the value of the
camera_enabled,lidar_enabledandkinect_enabledarguments to enable the 2D camera, LiDAR and the depth camera resp. according to your needs(By default, all three of them are enabled)
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Launch the navigation file.
roslaunch mr_robot_nav navigation.launch
NOTE: Make sure that you have installed the navigation dependencies before running the navigation launch file.
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Setting the goal In the Rviz add a 2d on the map.
Voila! The bot will start moving towards the goal now.
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For running
Octomapping simulation.- Switch to the point_cloud_navigation branch.
git checkout point_cloud_navigation
- Switch to the point_cloud_navigation branch.
- Alpha version
- Version 1
- Adding camera
- Adding 3d camera
- Hardware prototype
See the open issues for a full list of proposed features (and known issues).
Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.
If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!
- Fork the Project
- Create your Feature Branch (
git checkout -b feature/AmazingFeature) - Commit your Changes (
git commit -m 'Add some AmazingFeature') - Push to the Branch (
git push origin feature/AmazingFeature) - Open a Pull Request
For more info refer to contributing.md
Our Socials - Linktree - [email protected]
Demo: Video