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https://github.com/Ekumen-OS/andino
Open-source diff drive robot ROS 2 compatible
https://github.com/Ekumen-OS/andino
differential-drive-robot gazebo gazebo-ros gazebosim humble robotics ros ros2 ros2-control urdf
Last synced: 9 days ago
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Open-source diff drive robot ROS 2 compatible
- Host: GitHub
- URL: https://github.com/Ekumen-OS/andino
- Owner: Ekumen-OS
- Created: 2022-11-10T20:14:49.000Z (about 2 years ago)
- Default Branch: humble
- Last Pushed: 2024-12-04T16:33:46.000Z (18 days ago)
- Last Synced: 2024-12-04T17:38:01.057Z (18 days ago)
- Topics: differential-drive-robot, gazebo, gazebo-ros, gazebosim, humble, robotics, ros, ros2, ros2-control, urdf
- Language: C++
- Homepage:
- Size: 13.7 MB
- Stars: 189
- Watchers: 14
- Forks: 48
- Open Issues: 19
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- Code of conduct: CODE_OF_CONDUCT.md
- Codeowners: .github/CODEOWNERS
Awesome Lists containing this project
README
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.
With its open-source design, anyone can modify and customize the robot to suit their specific needs.
_Note: For videos go to [Media](#selfie-media) section._
## :books: Package Summary
- :rocket: [`andino_bringup`](./andino_bringup): Contains mainly launch files in order to launch all related driver and nodes to be used in the real robot.
- :robot: [`andino_hardware`](./andino_hardware): Contains information about the Andino assembly and hardware parts.
- :ledger: [`andino_description`](./andino_description): Contains the URDF description of the robot.
- :hammer_and_pick: [`andino_firmware`](./andino_firmware): Contains the code be run in the microcontroller for interfacing low level hardware with the SBC.
- :gear: [`andino_base`](./andino_base): [ROS Control hardware interface](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/writing_new_hardware_interface.html) is implemented.
- :control_knobs: [`andino_control`](./andino_control/): It launches the [`controller_manager`](https://control.ros.org/humble/doc/ros2_control/controller_manager/doc/userdoc.html) along with the [ros2 controllers](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html): [diff_drive_controller](https://control.ros.org/master/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html) and the [joint_state_broadcaster](https://control.ros.org/master/doc/ros2_controllers/joint_state_broadcaster/doc/userdoc.html).
- :computer: [`andino_gz_classic`](./andino_gz_classic/): [Gazebo Classic](https://classic.gazebosim.org/) simulation of the `andino` robot.
- :world_map: [`andino_slam`](./andino_slam/): Provides support for SLAM with your `andino` robot.
- :compass: [`andino_navigation`](./andino_navigation/): Navigation stack based on `nav2`.
- :exclamation: [`andino_apps`](./andino_apps/): Integrated applications with the `andino` robot.
## :paperclips: Related projects
Other projects built upon Andino! :rocket:
- :rocket: [`andino_ansible_config`](https://github.com/garyservin/andino_ansible_config): (**Thanks @garyservin !**): Ansible configuration to easily setup an Andino robot.
- :computer: [`andino_gz`](https://github.com/Ekumen-OS/andino_gz): [Gazebo](https://gazebosim.org/home)(non-classic) simulation of the `andino` robot.
- :lady_beetle: [`andino_webots`](https://github.com/Ekumen-OS/andino_webots): [Webots](https://github.com/cyberbotics/webots) simulation of the Andino robot fully integrated with ROS 2.
- :joystick: [`andino_o3de`](https://github.com/Ekumen-OS/andino_o3de): [O3DE](https://o3de.org/) simulation of the Andino robot.
- :green_circle: [`andino_isaac`](https://github.com/Ekumen-OS/andino_isaac): [Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/index.html) simulation of the Andino robot.
- :robot: [`andino_rmf`](https://github.com/Ekumen-OS/andino_rmf): [OpenRMF](https://www.open-rmf.org/) integration of Andino simulation.
- :test_tube: [`andino_integration_tests`](https://github.com/Ekumen-OS/andino_integration_tests): Extension to the Andino robot showing how to build integration tests.
## :busts_in_silhouette: Community
[
](https://discord.gg/tHhH32CTHu) Join our Discord and contribute to the community!
## :pick: Robot Assembly
Visit [`andino_hardware`](./andino_hardware/) for assembly instructions.
## :mechanical_arm: Installation
Remember to first go over the assembly instructions at [`andino_hardware`](./andino_hardware/)!
### Platforms
- ROS 2: Humble Hawksbill
- OS:
- Ubuntu 22.04 Jammy Jellyfish
- Ubuntu Mate 22.04 (On real robot (e.g: Raspberry Pi 4B))
### Via ansible
See [`andino_ansible_config`](https://github.com/garyservin/andino_ansible_config): This repository contains Ansible configurations for managing and automating the setup and configuration of an Andino robot.
### Build from Source
#### Dependencies
1. Install [ROS 2](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
2. Install [colcon](https://colcon.readthedocs.io/en/released/user/installation.html)
#### colcon workspace
Packages here provided are colcon packages. As such a colcon workspace is expected:
1. Create colcon workspace
```
mkdir -p ~/ws/src
```
2. Clone this repository in the `src` folder
```
cd ~/ws/src
```
```
git clone https://github.com/Ekumen-OS/andino.git
```
3. Install dependencies via `rosdep`
```
cd ~/ws
```
```
rosdep install --from-paths src --ignore-src -i -y
```
4. Build the packages
```
colcon build
```
5. Finally, source the built packages
If using `bash`:
```
source install/setup.bash
```
`Note`: Whether your are installing the packages in your dev machine or in your robot the procedure is the same. Remember to go over the assembly instructions first.
### Install the binaries
The packages have been also released via ROS package manager system for the 'humble' distro. You can check them [here](https://repo.ros2.org/status_page/ros_humble_default.html?q=andino).
These packages can be installed using `apt` (e.g: `sudo apt install ros-humble-andino-description`) or using `rosdep`.
## :rocket: Usage
### Robot bringup
`andino_bringup` contains launch files that concentrates the process that brings up the robot.
After installing and sourcing the andino's packages simply run.
```
ros2 launch andino_bringup andino_robot.launch.py
```
This launch files initializes the differential drive controller and brings ups the system to interface with ROS.
By default sensors like the camera and the lidar are initialized. This can be disabled via arguments and manage each initialization separately. See `ros2 launch andino_bringup andino_robot.launch.py -s ` for checking out the arguments.
- include_rplidar: `true` as default.
- include_camera: `true` as default.
After the robot is launched, use `ROS 2 CLI` for inspecting environment.
For example, by doing `ros2 topic list` the available topics can be displayed:
/camera_info
/cmd_vel
/image_raw
/odom
/robot_description
/scan
/tf
/tf_static
_Note: Showing just some of them_
### Teleoperation
Launch files for using the keyboard or a joystick for teleoperating the robot are provided.
#### Keyboard
```
ros2 launch andino_bringup teleop_keyboard.launch.py
```
This is similarly to just executing `ros2 run teleop_twist_keyboard teleop_twist_keyboard`.
#### Joystick
Using a joystick for teleoperating is notably better.
You need the joystick configured as explained [here](andino_hardware/README.md#Using-joystick-for-teleoperation).
```
ros2 launch andino_bringup teleop_joystick.launch.py
```
### RViz
Use:
```
ros2 launch andino_bringup rviz.launch.py
```
For starting `rviz2` visualization with a provided configuration.
## :compass: Navigation
The [`andino_navigation`](./andino_navigation/README.md) package provides a navigation stack based on the great [Nav2](https://github.com/ros-planning/navigation2) package.
https://github.com/Ekumen-OS/andino/assets/53065142/29951e74-e604-4a6e-80fc-421c0c6d8fee
Follow the [`andino_navigation`'s README](./andino_navigation/README.md) instructions for bringing up the Navigation stack in the real robot or in the simulation.
## :computer: Simulation
Within the Andino ecosystem simulations on several platforms are provided:
- [`andino_gz_classic`](./andino_gz_classic/README.MD) - (To be deprecated as of Jazzy)
- [`andino_gz`](https://github.com/Ekumen-OS/andino_gz) - **Recommended**
- [`andino_webots`](https://github.com/Ekumen-OS/andino_webots)
- [`andino_o3de`](https://github.com/Ekumen-OS/andino_o3de)
- [`andino_isaac`](https://github.com/Ekumen-OS/andino_isaac)
## :selfie: Media
### RVIZ Visualization
https://github.com/Ekumen-OS/andino/assets/53065142/c9878894-1785-4b81-b1ce-80e07a27effd
### Slam
Using the robot for mapping.
https://github.com/Ekumen-OS/andino/assets/53065142/283f4afd-0f9a-4d37-b71f-c9d7b2f3e453
https://github.com/Ekumen-OS/andino/assets/53065142/d73f6053-b422-4334-8f62-029a38799e66
See [`andino_slam`](./andino_slam/) for more information.
## :robot: Share your Andino!
Have you built your `Andino` already? Please go to [`Show & Tell`](https://github.com/Ekumen-OS/andino/discussions/categories/show-and-tell) Discussion and share with us your own version of it.
## :star2: Inspirational sources
This section is dedicated to recognizing and expressing gratitude to the open-source repositories that have served as a source of inspiration for this project. We highly recommend exploring these repositories for further inspiration and learning.
* [articubot_one](https://github.com/joshnewans/articubot_one)
* [diffbot](https://github.com/ros-mobile-robots/diffbot)
* [noah_hardware](https://github.com/GonzaCerv/noah-hardware)
* [linorobot](https://github.com/linorobot/linorobot2)
## :raised_hands: Contributing
Issues or PRs are always welcome! Please refer to [CONTRIBUTING](CONTRIBUTING.md) doc.
## Code development
Note that a [`Docker`](./docker) folder is provided for easy setting up the workspace.