Mobile Robot with 6 DoF Arm

This project consists of code for SLAM, Autonomous Navigation, and 6 DoF Arm Manipulation.

Hardware

• NVIDIA Jetson Nano 4GB
• ESP32
• YDLidar X2L
• DRV8833 (x2)

Software

• Ubuntu 18.04
• ROS1 (Tested with Melodic)
• MoveIt
• Cartographer

Setup

$ git clone https://github.com/MrOCW/Robot-Mobile-Base-with-Arm && cd Robot-Mobile-Base-with-Arm
$ chmod +x setup.sh
$ ./setup.sh
$ source install_isolated/setup.bash