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SIV_ROS

The document outlines the development of a software testing bot that integrates various sensors with the Robot Operating System (ROS) for data visualization and remote control. Key technologies used include ROS, Gazebo, Rviz, and communication protocols like UART and I2C, facilitating the integration of sensors such as IMU, GPS, rotary encoder, and RPLiDAR. The bot has potential applications in warehouses, healthcare, agriculture, and search operations, while also enabling sensor testing and evaluation of the bot's motion in its environment.

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Shaurya
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3 views

SIV_ROS

The document outlines the development of a software testing bot that integrates various sensors with the Robot Operating System (ROS) for data visualization and remote control. Key technologies used include ROS, Gazebo, Rviz, and communication protocols like UART and I2C, facilitating the integration of sensors such as IMU, GPS, rotary encoder, and RPLiDAR. The bot has potential applications in warehouses, healthcare, agriculture, and search operations, while also enabling sensor testing and evaluation of the bot's motion in its environment.

Uploaded by

Shaurya
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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SIV-ROS

SENSOR INTEGRATION AND VISUALISATION IN


ROBOT OPERATING SYSTEM

Overview
Built a software testing bot using sensors integrated in Robot Operating System (ROS) via sensor-spe-
cific mediums and protocols. The sensors integrated were Inertial Measurement Unit (IMU), GPS, rotary
encoder and RPLiDAR. We also implemented remote control of the robot.

Aim Application
The project aims at integrating the sensors
with ROS and visualise the data. Using this Such bots can be employed in ware houses,
system we aim to drive a bot with one health care facilities, agriculture , search
computer on it and the other with us to operations etc. Apart from this we also get to
evaluate its motion as it moves through the test the sensors which has its own use.
environment.

Technologies Used Sensors


We utilized a range of advanced technologies ENCODER
to effectively achieve our objectives. In this
Used rosserial arduino library
project, ROS was our core framework,
and used it in enoder's
orchestrating the robotic system. Gazebo and
arduino code along with
Rviz created immersive environments for
publisher node to obtain
dynamic testing and behavior visualization.
output interminal.
Communication was optimized with UART and
I2C protocols, ensuring reliable data exchange.
Integrating u-center improved GPS precision,
GPS
while SLAM mapped unexplored areas. Made a ROS package and a
publisher node using
rosserial library to publish
Test Bot Architecture the GPS coordinates in ROS.

RPLIDAR RPi3 RPLIDAR


GPS Installed RPLidar ROS
ARDUINO MEGA package ,connected
Main Hub Lidar via USB and then
IMU
finally launched RPLidar
driver.
NANO ARDUINO MEGA
Motor Controller IMU
MOTOR DRIVER Libraries like roserial and
i2c-package used to
MOTOR
ENCODER create node that
publishes the input data
Rpi3: Raspberry Pi 3 MOTOR of IMU to ROS Noetic
Nano: Arduino Nano

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