ROS 2 SLAM Project

Converting a differential drive robot to ROS 2 and implementing SLAM with as few sensors as possible.

Dependencies

• ORB-SLAM3-Pi (forked version of ORB-SLAM3)
• OpenCv v4
• ROS 2 Humble
• ORB-SLAM3-ROS2-Wrapper (forked version of a ROS 2 wrapper for ORB-SLAM3)
• Pangolin
• Eigen3

Requirements

• Raspberry Pi 4 B or similar running Ubuntu Server 22.04
• Laptop running Ubuntu 22.04
• Webcam (Logitech BRIO)
• WiFi network
• Differential drive robot (DFROBOT Turtle 2WD was used)
• DC motors x2
• Encoders (10 tooth rotary encoder) x2
• L298N H-bridge
• Battery (4S Li-ion pack)
• Carbon rod/wooden dowel (75/80mm diameter, 300mm long)
• Jumper wire female to female x15
• 5V 6S UBEC
• USB-A to USB-C (if required for webcam)
• 32GB SD card
• SD card reader

User Manual

For a detailed installation and usage guide consult the User Guide.