ck9

Code for CK-9 Robotics Development Kit

To buy CK-9, click here: https://centaurirobotics.in/dev/#buy

Software required:

1. Ubuntu 16.04 or higher
2. ROS Kinetic Kame or higher

Hardware required:

1. CK-9 Robotics Dev Kit (Includes Motors with encoders, LiDaR, precisely cut and sturdy modular base, wheels, castors)
2. 2 x Microcontroller. Example: Arduino Uno (One for IMU, one for base controller)
3. Robot Computer (Example: Raspberry Pi 3 Model B)
4. Battery
5. Workstation computer (PC with Linux Ubuntu 16.04 or higher)

How to clone?

• cd catkin_ws/src
• git clone https://github.com/centauri-robotics/ck9
• cd ~/catkin_ws
• catkin_make
• source ~/catkin_ws/devel/setup.bash

How to teleop?

• roslaunch ck9_base minimal.launch
• roslaunch turtlebot_teleop keyboard_teleop.launch

That's it play around with your CK-9 and move it around with your PC keyboard!

How to create a map/run SLAM?

• roslaunch ck9_base minimal.launch
• roslaunch turtlebot_teleop keyboard_teleop.launch
• roslaunch ck9_navigation slam.launch
• roscd ck9/rviz and then rviz -d slam.rviz
• View the bot and the map being created in rviz, and move around the bot with teleop to build a full map
• To save the map: rosrun map_server map_saver -f map_name with terminal at the location where you want to save the map
• You now have a map ready to run your bot autonomously on!

How to run autonomous navigation?

• roslaunch ck9_base minimal.launch
• roslaunch ck9_navigation navigate.launch map_file:=/home/username/path_to_map.yaml
• roscd ck9_base/rviz and then rviz -d navigate.rviz
• Use the "2D Nav Goal" button in rviz to publish your navigation goals and see your CK-9 in action!