OmniBot

An autonomous mobile robot project developed by a group of students at Hanoi University of Science and Technology, under the guidance of Prof. Assoc. Nguyễn Phạm Thục Anh

Project Start: 01/03 - Still Updatting

Introduction

This project is an Autonomous Mobile Robot (AMR) capable of autonomously navigating a predefined environment, avoiding obstacles, and performing tasks such as transporting goods.

Table of Contents

• Hardware
• Installation
  • System Requirements
  • Prerequisites
  • Installation Steps
• Usage
  • Omni SLAM
  • Omni Navigation
  • Place Recognition

Hardware

OmniBot is equipped with the following hardware components:

• Camera: RealSense Depth Camera D435
• Lidar: Hokuyo URG-04LX-UG01
• Microcontroller: STM32F407VGT6
• IMU: MPU9650
• Motor Driver: BTS7960
• DC Motors

Installation

System Requirements

• Python 3.8+
• ROS Noetic / Melodic
• OpenCV 4.2

Prerequisites

Install LIDAR Hokuyo (urg_node)

1. Install urg_node:

   sudo apt-get install ros-<ros_distro>-urg-node

Install RealSense D435

1. Install the RealSense ROS package:

   sudo apt-get install ros-<ros_distro>-realsense2-camera

Install Hector-SLAM

1. Install Hector-SLAM:

   sudo apt-get install ros-<ros_distro>-hector-slam

Install GMapping

1. Install GMapping:

   sudo apt-get install ros-<ros_distro>-gmapping

Install Cartographer

1. Install dependencies:

   sudo apt-get update
   sudo apt-get install -y python-wstool python-rosdep ninja-build

2. Create a workspace and clone Cartographer:

   mkdir -p ~/cartographer_ws/src
   cd ~/cartographer_ws
   wstool init src
   wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
   wstool update -t src

3. Install and build Cartographer:

   src/cartographer/scripts/install_abseil.sh
   rosdep update
   rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
   catkin_make_isolated --install --use-ninja

Install Pangolin

1. Clone and build Pangolin:

   git clone https://github.com/stevenlovegrove/Pangolin.git
   cd Pangolin
   mkdir build
   cd build
   cmake ..
   cmake --build .
   sudo make install

Install ORB-SLAM3

1. Clone and build ORB-SLAM3:

   git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git
   cd ORB_SLAM3
   chmod +x build.sh
   ./build.sh

Install DBoW3

1. Clone and build DBoW3:

   git clone https://github.com/rmsalinas/DBow3.git
   cd DBoW3
   mkdir build
   cd build
   cmake ..
   make
   sudo make install

Install RTAB-Map

1. Install RTAB-Map:

   sudo apt-get install ros-<ros_distro>-rtabmap ros-<ros_distro>-rtabmap-ros

Installation Steps

1. Create a catkin workspace:

   mkdir -p ~/catkin_ws/src
   cd ~/catkin_ws/src

2. Clone the repo:

   git clone https://github.com/PhamCongTrang/OmniBot.git
   cd ~/catkin_ws

3. Build the workspace:

   catkin build

4. Source the workspace:

   source devel/setup.bash

Usage

Omni SLAM

1. To start the SLAM system with a specific method, use the following command:

   roslaunch omni_slam omni_slam.launch slam_methods:=<method>

   Replace <method> with the desired SLAM method. For example:
   • Cartographer: roslaunch omni_slam omni_slam.launch slam_methods:=cartographer
   • Hector-SLAM: roslaunch omni_slam omni_slam.launch slam_methods:=hector
   • GMapping: roslaunch omni_slam omni_slam.launch slam_methods:=gmapping
   • ORB-SLAM3: roslaunch omni_slam omni_slam.launch slam_methods:=orb_slam3
   • RTAB-Map: roslaunch omni_slam omni_slam.launch slam_methods:=rtabmap

Omni Navigation

1. To start the navigation system, use the following command:

   roslaunch omni_navigation omni_navigation.launch

Place Recognition

Data Collection

1. To collect data for place recognition, run:

   rosrun place_recognition collect_data.py

Querying Database

1. To query the place recognition database, run:

   rosrun place_recognition query_database.py