IIUM Medibot V4   

ROS packages and firmware code.

Requirements

Software

• Ubuntu 18.04
• ROS Melodic Morenia

Hardware

• Advantech MIC-710AIX / Jetson Xavier NX (robot computer)
• Arduino Due (base controller)
• Hokuyo UST-05LA (lidar)
• 2 x Motors with Encoders

Installation

1. Clone the repository

   cd ~/catkin_ws/src &&
   git clone https://github.com/zulhafiz-zulkifli/medibotv4_ros.git

2. Install packages dependencies

   rosdep install medibotv4 -y

3. Build the packages

   cd ~/catkin_ws &&
   catkin_make &&
   source ~/catkin_ws/devel/setup.bash

How to Use

Robot bringup (Base controller and hardware interface)

roslaunch medibotv4 bringup.launch

Mapping using SLAM

roslaunch medibotv4 gmapping.launch

Autonomous Navigation

roslaunch medibotv4 navigation.launch

Simulation

• Single Robot

roslaunch medibotv4 simulation.launch

• Multi Robot

roslaunch medibotv4 multirobot_simulation.launch