https://github.com/loki-silvres/hologlyph-bots
Autonomous drawing robots with a 3 wheeled holonomic drive, completely run using ROS2.
https://github.com/loki-silvres/hologlyph-bots
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
Last synced: 26 days ago
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Autonomous drawing robots with a 3 wheeled holonomic drive, completely run using ROS2.
- Host: GitHub
- URL: https://github.com/loki-silvres/hologlyph-bots
- Owner: Loki-Silvres
- Created: 2024-03-29T17:49:03.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2024-11-28T14:30:32.000Z (6 months ago)
- Last Synced: 2025-04-17T00:16:34.936Z (about 1 month ago)
- 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
- Language: Python
- Homepage:
- Size: 42.1 MB
- Stars: 3
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Hologlyph-Bots
This 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.
---
## Overview
### **Key Features**
- Implements precise control algorithms for holonomic drive robots.
- Implemented Swarm Algorithms to accomplish collaborative tasks.
- Completes various tasks in a simulated arena and with physical hardware, demonstrating advanced robotics capabilities.
- Leverages robotic motion control to draw complex shapes like triangles, rectangles, and intricate mathematical functions.
---
## Repository Structure
```plaintext
Hologlyph-Bots/
├── Arduino Code
├── Arena photos
├── Aruco_Markers
├── cam_calibration_640x480
├── hb_task1a_ws
├── hb_task1b_ws
├── hb_task_2_ws
├── hb_task_4_ws
├── hb_task_5_ws
├── hb_task_6_ws
├── PCB and Circuit
├── STL files
└── README.md
```
---
## Getting Started
### **Prerequisites**
- Python 3.8+
- Ubuntu 22.04 LTS
- ROS-HUMBLE (Robot Operating System)
- Gazebo-Classic Simulator
- Required libraries: `numpy`, `matplotlib`, `scipy`, `opencv-python`
### **Installation**
1. Clone the repository:
```bash
cd
git clone https://github.com/Loki-Silvres/Hologlyph-Bots.git
cd ~/Hologlyph-Bots/
```
2. Install requirements:
```bash
pip install -r requirements.txt
```
4. Running Simulations:
- Run specific simulation tasks with the help of their corresponding documentations:
- [Task1A](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/hb_task1a_ws#readme)
- [Task1B](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/hb_task1b_ws#readme)
- [Task2](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/hb_task_2_ws#readme)
4. Hardware Implementation:
- [STL files for 3D printing](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/STL%20files)
- [PCB and Circuit Design](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/PCB%20and%20Circuit)
- [Arena flex-printing](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/Arena%20photos)
- [Overhead Camera Calibration](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/cam_calibration_640x480)
- [ESP32-code](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/Arduino%20Code)
- [Aruco-Markers](https://github.com/Loki-Silvres/Hologlyph-Bots/tree/main/Aruco_Markers)
---
## Results
### **Submission Playlist**
- [Click here to view our Submission Playlist](https://youtube.com/playlist?list=PL_9--5xsFYUQ-xg70fmYQrzXn2ip_9O3C&si=z0v1tnEO03IPCXnJ)
---
### **Task Demonstrations**
#### **Task 5: Final Arena with Bots**
- **Arena Layout**
- **Task Result**
#### **Task 4: Shape Drawings**
- **Triangle Drawing**
- **Rectangle Drawing**
---
## Acknowledgments
- **E-Yantra**: For organizing this inspiring robotics competition.
- **Team Members**: EYRC_HB_1523:
- [Alok Raj](https://github.com/Loki-Silvres)