UVBOT (An Autonomous UV disinsfection Robot)

This repository contains the codebase and necessary information to build an Autonomous UV Disinfection Robot. The robot utilizes various hardware components and software libraries to achieve prototype of autonomous navigation and UV disinfection capabilities.

--Pravin--

Hardware Components

• NVIDIA Jetson Nano
• Dual-Channel Servo Driver ZLAC8015D
• ZLLG40ASM100 V1.0 Hub Servo Motor
• Ouster OS-1 LiDAR
• MPU 6050 IMU
• Wireless Controller

Software Dependencies

• Ubuntu 20.04 LTS
• ROS 1 Neotic
• Python 3.8.10

Installation Instructions

Dependencies Installation :-

sudo apt-get install ros-neotic-base-local-local-planner

sudo apt-get install ros-neotic-carrot-planner

sudo apt-get install ros-neotic-dwa-local-planner

sudo apt-get install ros-neotic-teb-local-planner

Hardware Setup

1. NVIDIA Jetson Nano Configuration

   • Follow NVIDIA's official documentation for setting up Jetson Nano.

2. ZLAC8015D Motor Integration

   • Connect and configure the ZLAC8015D Motor as per the provided datasheet.

3. Ouster OS-1 LiDAR

   • Install necessary drivers and ROS packages for Ouster Lidar. Refer to the Ouster Lidar documentation.

4. MPU6050 IMU

   • Connect and calibrate the MPU6050 IMU sensor for accurate readings.

Software Setup

1. ROS 1 Neotic Installation

   • Follow the instructions on ROS wiki to install ROS 1 Neotic.

2. Repository Cloning

   • Clone this repository to your local machine.

3. Build and Compilation

   • Navigate to the cloned repository and build the ROS workspace using catkin_make.

4. Configuration Files (Parameters)

• Base_local_planner_params.yaml
• Costmap_common_params.yaml
• Dwa_local_planner.yaml
• Global_costmap.yaml
• Local_costmap.yaml
• Move_base.yaml
• AMCL (Adaptive Monte Carlo Localization)
• UVbot hardware configure (twist mux node)

Usage

1. Launching ROS Nodes
   • Make sure the Lidar is active for perform mapping.

   roslaunch uvbot_psas uvbot_hardware.launch
   

   roslaunch uvbot_psas uvbot_gmapping.launch
   

   • Save the map

   rosrun map_server map_saver -f map
   

   • Launch Autonomous Navigation

   roslaunch uvbot_psas uvbot_navigation.launch