quadruped_robot_4_DOF

Developed a biomimetic triceratops robot using ROS2 and computer vision, integrating Realsense D435 camera with Nvidia Isaac ROS VSLAM and AprilTag SLAM for indoor localization, while implementing Nav2 for autonomous navigation capabilities.

Requirements

• Python 3.10
• ROS2 humble

Orin Nano environment setup

$ mkdir pangolin_ws && cd pangolin_ws

$ git clone https://github.com/BruceLin90620/ros2-pangolin-robot.git

$ git checkout dev

• build:

$ pip3 install setuptools==58.2.0

$ colcon build --symlink-install

• cd /home/user:

$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git

• cd /DynamixlSDK/python:

$ sudo python setup.py install

• Isaac ROS install:

$ VSlAM ...

Pangolin Start

$ ./start.sh

$ ros2 launch pangolin_bringup pangolin_bringup.launch.py

VSLAM Test

Pangolin launch

$ cd pangolin_ws/

$ source install/setup.bash

$ ros2 launch pangolin_control drive_controller.launch.py

Pangolin keybord Control

$ cd pangolin_ws

$ ros2 run teleop_twist_keyboard teleop_twist_keyboard