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OriginBot Intelligent Robot Open Source Suite (PC Function Package)

originbot

OriginBot is an intelligent robot open-source suite and a community-driven open-source project aimed at enabling every participant to enjoy the fun of robot development.

Project Links

Main Site

https://www.originbot.org/en/

Source Code Repositories

Repository Description
originbot OriginBot robot function package repository
originbot_desktop OriginBot desktop function package repository
originbot_controller OriginBot controller source code repository

Community Forum

https://www.guyuehome.com/interlocution

Software Architecture

  • originbot_description: Robot model and loading scripts
  • originbot_viz: Robot visualization function package for PC
  • originbot_demo: Programming examples for basic robot functions
  • originbot_gazebo: Robot simulation models and environments
  • originbot_msgs: OriginBot custom communication interfaces
  • originbot_app: OriginBot visualization software for PC
  • originbot_deeplearning: Robot deep learning function package
    • line_follower_model: AI vision line-following data collection and model training package
    • 10_model_convert: Model conversion scripts

Quick Start

For detailed instructions, please refer to: https://www.originbot.org/

View Robot Visualization Model

On PC

$ ros2 launch originbot_description display.launch.py

img

View Robot Lidar Visualization Data

$ ros2 launch originbot_viz display_lidar.launch.py

You will see the visualized lidar data: img

View IMU Visualization Data

$ ros2 launch originbot_viz display_imu.launch.py

You will see the visualized IMU data: img

View Robot TF Relationships

$ ros2 launch originbot_viz display_robot_tf.launch.py

View Robot SLAM Visualization Process

$ ros2 launch originbot_viz display_slam.launch.py

Monitor Robot Navigation Visualization Process

$ ros2 launch originbot_viz display_navigation.launch.py

Virtual Simulation

PC Dependencies Installation

$ sudo apt install ros-foxy-gazebo-ros
$ sudo apt install ros-foxy-gazebo-ros2-control
$ sudo apt install ros-foxy-gazebo-plugins
$ sudo apt install ros-foxy-ros2-control
$ sudo apt install ros-foxy-ros2-controllers

Run Simulation Environment

$ ros2 launch originbot_gazebo originbot_gazebo.launch.py

img

View Simulation Topic List

$ ros2 topic list

img

Control Robot Movement

$ ros2 run teleop_twist_keyboard teleop_twist_keyboard

View Camera and Lidar Visualization Data

Place some obstacles in the simulation environment: img

$ ros2 run rviz2 rviz2

img

Contributing

We sincerely invite developers to participate in the OriginBot project. There are many ways to contribute:

Provide Feedback

  • If you encounter any issues or have suggestions while using the OriginBot suite, feel free to discuss them in the GuyueHome Community Forum;

  • If you find any bugs while using the OriginBot software, please submit an issue in the code repository;

Contribute Code

  • If you have optimizations, additions, or modifications to the original code while using the OriginBot suite, feel free to submit a Pull Request in the code repository;

Spread Open Source

  • If you are interested in OriginBot, feel free to star the project's source code repository or share it with developers who might need it;

  • If you develop more interesting features or robots based on the OriginBot open-source project, feel free to share them in the community forum. Outstanding projects will also be promoted in the community.