andino_o3de

March 26, 2024 ยท View on GitHub

<img src=docs/andino_warehouse.png width=700 />

:clipboard: Description

Andino is a fully open-source diff drive robot designed for educational purposes and low-cost applications. It is fully integrated with ROS 2 and it is a great base platform to improve skills over the robotics field.

andino_o3de leverages the power of O3DE for an andino simulation and serves as an entry point for people looking for starting with O3DE Simulator.

:clamp: Platforms

  • OS:
    • Ubuntu 22.04 Jammy Jellyfish
  • O3DE:
    • Tested on 23.10.2
  • ROS 2: Humble Hawksbill

:inbox_tray: Workspace setup

Refer to workspace setup for setting up the workspace.

:rocket: Usage

Open the O3DE Editor of the project. Refer to workspace setup.

RViz Visualization

ros2 run rviz2 rviz2 -d andino_o3de_ws/rviz.rviz --ros-args -p use_sim_time:=true

<img src=docs/rviz.png width=500 />

Teleoperate the robot

ros2 run teleop_twist_keyboard teleop_twist_keyboard

SLAM via andino_slam package

andino_o3de.webm

Once the simulation is up we can use the andino stack. Let's use andino_slam package to create a map.

  1. Install andino_slam package.

    sudo apt install ros-humble-andino-slam

  2. Run slam

    ros2 launch andino_slam slam_toolbox_online_async.launch.py

  3. Visualize the creation of the map in RViz using the map display.

    <img src=docs/slam.png width=500 />