Build a Versatile Robot with Autonomous Navigation!

Build a Versatile Robot with Autonomous Navigation!

Table of Contents:

1. Introduction
2. Building the Main Mechanical Assembly
3. Constructing the Utility Stick
4. Installing the Body and Arm Components
5. Overview of the Jetson Xavier NX
6. Implementing Object Recognition using Nvidia's Learning Models
7. Introduction to ROS for Mapping and Navigation
8. Installing the Laser Scanner
9. Integrating ROS for Proper Mapping and Navigation
10. Wiring and Power Systems
11. Acknowledgments and Thanks

Building the Really Useful Robot

The Really Useful Robot, as its name suggests, is a versatile and practical robot designed with a substantial base that allows it to move freely without tripping over objects. This article serves as a detailed guide on how to build this robot from scratch. In the following sections, we will discuss the step-by-step process of constructing the main mechanical assembly, creating the utility stick using aluminum V-slot extrusion, installing the body and arm components, and integrating the necessary components for mapping and navigation using ROS.

1. Introduction

The Really Useful Robot is a unique robotic platform that combines advanced technology and practicality to offer a range of applications in the home or office. Equipped with a Jetson Xavier NX module, this robot is capable of running Nvidia's learning models for object recognition. Additionally, it utilizes ROS for mapping and navigation, which is essential for its autonomous movement. In this guide, we will explore the construction process of the Really Useful Robot, starting from the main mechanical assembly.

2. Building the Main Mechanical Assembly

The main mechanical assembly of the Really Useful Robot forms the foundation for the entire robot structure. It consists of a substantial base and four wheels for smooth mobility. To ensure stability, springs are added to provide suspension, preventing the robot from falling forward due to its front-heavy design. The control panel, which includes an emergency stop button and power switches, is also installed at this stage. The main drive, powered by two brushless motors with belt drives, is responsible for the movement of the wheels. Encoders on the motors enable precise control and velocity estimation. The Jetson Xavier NX module, the primary compute module of the robot, is mounted in the back, along with additional components such as the ODrive 3.6 and a 3D-printed battery pocket.

3. Constructing the Utility Stick

The utility stick of the Really Useful Robot is a crucial component that allows the robot to perform various tasks. Made of aluminum V-slot extrusion, the utility stick serves as a support structure for the body and arm components. It can be adjusted in Height, enabling the arm to reach surfaces at different heights. This flexibility allows the robot to accomplish practical tasks in both home and office settings. The utility stick is securely attached to the base and serves as the central Pillar for the robot's overall structure.

4. Installing the Body and Arm Components

With the main mechanical assembly and utility stick in place, it is now time to install the body and arm components of the Really Useful Robot. The body, which houses the Jetson Xavier NX module and other internal hardware, is designed to move up and down using a motorized mechanism. This feature allows the arm to reach the ground or surfaces at human height, enhancing the robot's usability. Additionally, the installation of the laser scanner, a crucial component for mapping and navigation, is done at this stage. The laser scanner is positioned at the front of the robot, enabling accurate scanning of the environment for mapping purposes.

5. Overview of the Jetson Xavier NX

The Jetson Xavier NX module serves as the main compute module for the Really Useful Robot. This powerful module enables the robot to run Nvidia's learning models for object recognition. With the ability to recognize common household objects, the robot becomes a valuable assistant in various tasks. The Jetson Xavier NX module is also responsible for running ROS, a crucial software framework for mapping and navigation. With its high processing capabilities, this module ensures the efficient operation of the Really Useful Robot.

6. Implementing Object Recognition using Nvidia's Learning Models

One of the key features of the Really Useful Robot is its ability to recognize household objects using Nvidia's learning models. By leveraging the power of the Jetson Xavier NX module, the robot can identify and categorize objects in its environment. This capability opens up possibilities for various applications, such as object retrieval, sorting, and assistance in daily tasks. The implementation of object recognition involves training the learning models on the Jetson Xavier NX module and integrating the recognition algorithms into the robot's software.

7. Introduction to ROS for Mapping and Navigation

ROS (Robot Operating System) plays a critical role in the mapping and navigation capabilities of the Really Useful Robot. ROS provides a framework for designing complex robotic systems, facilitating the integration of various components and algorithms. In this section, we will provide an overview of ROS and its importance in creating a robot that can effectively map and navigate its environment. We will explore the basic concepts of ROS, including nodes, topics, and messages, and how they are utilized in the Context of mapping and navigation.

8. Installing the Laser Scanner

To enable the Really Useful Robot to accurately map its environment, a laser scanner is essential. The laser scanner, in this case, is an RP Lidar A2, provided by Robo Savvy. The installation process involves mounting the laser scanner in a position that ensures optimal scanning of the surroundings. The laser scanner communicates with the Jetson Xavier NX module, providing crucial data for mapping and navigation. We will explore the necessary steps to integrate the laser scanner into the robot's system and ensure proper functionality.

9. Integrating ROS for Proper Mapping and Navigation

With the main hardware components in place, it is time to integrate the power of ROS for proper mapping and navigation. ROS provides an extensive set of tools and libraries that allow the robot to perceive its environment, Create a map, and navigate through it. By leveraging the laser scanner data and odometry information, the Really Useful Robot can build an accurate map and use it for autonomous navigation. This section will cover the necessary steps to implement ROS and configure the mapping and navigation stack to achieve reliable and efficient navigation.

10. Wiring and Power Systems

The wiring and power systems of the Really Useful Robot are crucial for ensuring proper functionality and reliability. This section will guide You through the process of wiring the various components, including the Jetson Xavier NX module, ODrive 3.6, and the brushless motors. The power distribution and management for the main drive and logic components will be discussed, along with the necessary precautions for safe operation. We will also highlight the importance of using appropriate power switches and volt meters to monitor and control the electrical system of the robot.

11. Acknowledgments and Thanks

Throughout the construction process of the Really Useful Robot, several companies provided support and assistance. In this section, we extend our gratitude to these companies, including 3D Fuel, NVIDIA, Cool Components, and Robo Savvy. Their contributions greatly influenced the success of this project. We also express our appreciation to the open-source community and the individuals who have shared their knowledge and resources. Without their support, the development of the Really Useful Robot would not have been possible.