Autonomous navigation robot with ROS (Raspberry pi + YDLIDAR)

Autonomous navigation robot using move_base and amcl package with ROS(Long version)

Use map created by gmapping(https://youtu.be/9EaXi4bh2s0)

Since the parameter adjustment is in progress, the robot has not reached the destination with a clean route

Not using sideways movement (non-holonomic)

Robot
-Raspberry Pi 3 B+ (raspbian stretch + ROS kinetic)
-ydlidar ydlidar_node(http://ydlidar.com/download)
-odom_encoder encoder(self-build package)
-slam robot_control(self-build package)
-mecanum wheel
-IMU(MPU-6050)
-arduino pro mini(motor control, rotary encoder)
-picamera v2

PC
-Virtualbox(Ubuntu 16.04 + ROS kinetic)
-roscore
-rviz rviz(tf, map)
-move_base move_base
-amcl amcl
-map_server map_server
-urdf model

Видео Autonomous navigation robot with ROS (Raspberry pi + YDLIDAR) канала ranbo0311