to mark as completed Robik - general robot for education and used socks housekeeping
It all started when iRobot Roomba was adopted by our family to do its slavery job. We were discussing mechanics of Roomba with my son and decided to create our own robot that we will have fun with. It's name is Robik.
Main outlines of Robik are:
- using ROS.org (since the very beginning)
- made from cheap components and used parts
- ROS Navigation stack works but will require tuning
- laser guided docking is in progress; it should be able to dock and charge autonomously
- 5 DoF arm can be manipulated manually or controlled by action server to perform pre-programmed tasks
- egg grasping test will be performed shortly
- MoveIt! configuration and topics is ready but full integration will require much more work
- Kinect is used for RGBD vision that is converted to laser_scan used by navigation
- a modular web UI has been created for easy access and robot control from various devices
- Jetson TK1 is used as high-level controller capable to utilize OpenCV CUDA processing power
- 5000mAh battery and onboard charger
Automated parking procedure consists of three phases:
- Navigate to a place close to base
- Laser guided drive backwards to base
- Finalizing parking by getting contact with power charging outlet
More photos and information can be found at https://plus.google.com/118382910860727881435
Remote control drive and arm manipulation, running ROS, RGBD via Kinect