Differential drive robot with a Jetson nano, RGB-D camera "Kinect", ROS Melodic, for navigation purposes (2019)

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Description

This project consisted of creating from scratch a differential drive autonomous mobile robot with a Jetson Nano, RGB-D Camera (Kinect), Camera, and working with ROS Melodic for navigation in indoor environments. This project was done merely for research purposes on my own and for fun.

My contribution to the project was:

  • Mechanical implementation with just polycarbonate and endless screws, according to each component dimension
  • The electronics and the power system of the entire robot (Jetson Nano, Encoders, Kinect)
  • The setup of ROS Melodic on the Jetson Nano to work with the actuators and sensors
  • The microcontroller PID, Odometry, and ROS communication with the Jetson
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