{"id":18991045,"url":"https://github.com/loki-silvres/hologlyph-bots","last_synced_at":"2025-04-22T11:33:31.461Z","repository":{"id":230444861,"uuid":"779380414","full_name":"Loki-Silvres/Hologlyph-Bots","owner":"Loki-Silvres","description":"Autonomous drawing robots with a 3 wheeled holonomic drive, completely run using ROS2.","archived":false,"fork":false,"pushed_at":"2024-11-28T14:30:32.000Z","size":44129,"stargazers_count":3,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-04-17T00:16:34.936Z","etag":null,"topics":["3d-printing","aruco-marker-detection","e-yantra","esp32-arduino","holonomic-drive","inverse-kinematics","microros","pid-control","rclpy","robotics-competition","ros-humble","ros2-humble","rospy","usbcamera"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Loki-Silvres.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2024-03-29T17:49:03.000Z","updated_at":"2024-12-23T22:10:55.000Z","dependencies_parsed_at":"2025-04-16T18:21:17.812Z","dependency_job_id":null,"html_url":"https://github.com/Loki-Silvres/Hologlyph-Bots","commit_stats":null,"previous_names":["loki-silvres/hologlyph-bots"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Loki-Silvres%2FHologlyph-Bots","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Loki-Silvres%2FHologlyph-Bots/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Loki-Silvres%2FHologlyph-Bots/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Loki-Silvres%2FHologlyph-Bots/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Loki-Silvres","download_url":"https://codeload.github.com/Loki-Silvres/Hologlyph-Bots/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":250232111,"owners_count":21396571,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["3d-printing","aruco-marker-detection","e-yantra","esp32-arduino","holonomic-drive","inverse-kinematics","microros","pid-control","rclpy","robotics-competition","ros-humble","ros2-humble","rospy","usbcamera"],"created_at":"2024-11-08T17:12:32.976Z","updated_at":"2025-04-22T11:33:31.426Z","avatar_url":"https://github.com/Loki-Silvres.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"\n# Hologlyph-Bots\n\n![Hologlyph Bots Background](https://github.com/Loki-Silvres/Hologlyph-Bots/blob/main/Hologylph_bots_background.png?raw=true)\n\nThis repository contains the source code and resources developed by **Team eyrc_hb_1523** for the **E-Yantra 2023-2024 Hologlyph Bots** competition. This theme focuses on designing robots capable of creating artistic patterns or glyphs using holonomic drive systems. Holonomic drive robots offer superior control over movement, enabling translation along both x and y axes and rotation along the z-axis, a feature ideal for precision tasks in a confined arena.\n\n---\n\n## Overview\n\n### **Key Features**\n- Implements precise control algorithms for holonomic drive robots.\n- Implemented Swarm Algorithms to accomplish collaborative tasks.\n- Completes various tasks in a simulated arena and with physical hardware, demonstrating advanced robotics capabilities.\n- Leverages robotic motion control to draw complex shapes like triangles, rectangles, and intricate mathematical functions.\n\n---\n\n## Repository Structure\n\n```plaintext\nHologlyph-Bots/\n├── Arduino Code\n├── Arena photos\n├── Aruco_Markers\n├── cam_calibration_640x480\n├── hb_task1a_ws\n├── hb_task1b_ws\n├── hb_task_2_ws\n├── hb_task_4_ws\n├── hb_task_5_ws\n├── hb_task_6_ws\n├── PCB and Circuit\n├── STL files\n└── README.md\n```\n\n---\n\n## Getting Started\n\n### **Prerequisites**\n- Python 3.8+\n- Ubuntu 22.04 LTS\n- ROS-HUMBLE (Robot Operating System)\n- Gazebo-Classic Simulator\n- Required libraries: `numpy`, `matplotlib`, `scipy`, `opencv-python`\n\n### **Installation**\n1. Clone the repository:\n   ```bash\n   cd \n   git clone https://github.com/Loki-Silvres/Hologlyph-Bots.git\n   cd ~/Hologlyph-Bots/\n   ```\n\n2. Install requirements:\n   ```bash\n   pip install -r requirements.txt\n   ```\n4. Running Simulations:\n   \n- Run specific simulation tasks with the help of their corresponding documentations:\n\n  - [Task1A](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/hb_task1a_ws#readme)\n  - [Task1B](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/hb_task1b_ws#readme)\n  - [Task2](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/hb_task_2_ws#readme)\n\n4. Hardware Implementation:\n   \n- [STL files for 3D printing](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/STL%20files)\n- [PCB and Circuit Design](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/PCB%20and%20Circuit)\n- [Arena flex-printing](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/Arena%20photos)\n- [Overhead Camera Calibration](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/cam_calibration_640x480)\n- [ESP32-code](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/Arduino%20Code)\n- [Aruco-Markers](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/Aruco_Markers)\n\n---\n\n## Results\n\n### **Submission Playlist**\n- [Click here to view our Submission Playlist](https://youtube.com/playlist?list=PL_9--5xsFYUQ-xg70fmYQrzXn2ip_9O3C\u0026si=z0v1tnEO03IPCXnJ)\n\n---\n\n### **Task Demonstrations**\n\n#### **Task 5: Final Arena with Bots**\n- **Arena Layout**  \n  \u003cimg src=\"https://github.com/user-attachments/assets/e0325b9f-6a9e-483c-a289-086f58bf5257\" width=\"450\" alt=\"Task 5 Arena with Bots\" /\u003e\n\n\n- **Task Result**  \n  \u003cimg src=\"https://github.com/Loki-Silvres/Hologlyph-Bots/blob/main/Arena%20photos/Task_5_result.jpg?raw=true\" width=\"450\" alt=\"Task 5 Result\" /\u003e\n\n#### **Task 4: Shape Drawings**\n- **Triangle Drawing**  \n  \u003cimg src=\"https://github.com/Loki-Silvres/Hologlyph-Bots/blob/main/Arena%20photos/task_4_triangle.png?raw=true\" width=\"320\" alt=\"Task 4 Triangle Drawing\" /\u003e\n\n- **Rectangle Drawing**  \n  \u003cimg src=\"https://github.com/Loki-Silvres/Hologlyph-Bots/blob/main/Arena%20photos/task_4_rectangle.png?raw=true\" width=\"579\" alt=\"Task 4 Rectangle Drawing\" /\u003e\n\n---\n\n## Acknowledgments\n- **E-Yantra**: For organizing this inspiring robotics competition.\n- **Team Members**: EYRC_HB_1523:\n  - [Alok Raj](https://github.com/Loki-Silvres)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Floki-silvres%2Fhologlyph-bots","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Floki-silvres%2Fhologlyph-bots","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Floki-silvres%2Fhologlyph-bots/lists"}