This repository contains instructions and other documents related to my "articubot_one" project, which originated from Articulated Robotics code:
https://github.com/slgrobotics/articubot_one
It is intended to run navigation on my Turtlebot-like robots - in Gazebo simulation or with physical robots, indoors or outdoors.
Some of the docs here deal with Desktop ("Ground Station") setup and operation, while others describe setup of on-board Raspberry Pi computers.
We assume:
-
On the Desktop machine (Intel, AMD) - Ubuntu 24.04 64-bit desktop, ROS Jazzy
-
On-board single board computer (SBC) - Raspberry Pi 5 8GB or similar, Ubuntu server 24.04 64-bit, ROS Jazzy
If you just want to run a simulation in Gazebo, or need to set up your Desktop with ROS Jazzy -
see https://github.com/slgrobotics/robots_bringup/tree/main/Docs/ROS-Jazzy (no robot hardware required).
The outdoorsy robot Dragger (Raspberry 5, GPS) is described here:
https://github.com/slgrobotics/robots_bringup/tree/main/Docs/Dragger
An indoors mapper robot Plucky is described here (Raspberry 5):
https://github.com/slgrobotics/robots_bringup/tree/main/Docs/Plucky
Classic Turtlebot, a visitor from the ancient times, running on Raspberry 3B, now Jazzified:
https://github.com/slgrobotics/robots_bringup/tree/main/Docs/Create1
Note: you don't need to download or build anything from this repository, just browse the Docs folder.
Articulated Robotics (Josh Newans):
https://articulatedrobotics.xyz/category/build-a-mobile-robot-with-ros
https://www.facebook.com/ArticulatedRobotics/
https://articulatedrobotics.xyz/mobile-robot-1-project-overview/
https://articulatedrobotics.xyz/mobile-robot-13-ros2-control-real/
https://control.ros.org/jazzy/index.html
https://www.youtube.com/@ArticulatedRobotics/videos
GPS - localization and navigation:
https://automaticaddison.com/sensor-fusion-using-the-robot-localization-package-ros-2/
https://docs.ros.org/en/melodic/api/robot_localization/html/integrating_gps.html
https://docs.nav2.org/tutorials/docs/navigation2_with_gps.html