• This project is derived from orne_navigation.

Software

Install

Precondition:

1. Install ROS noetic (Ubuntu20.04/docker)
2. Install python3-catkin-tools

cd ~/catkin_ws/src
git clone -b noetic-devel https://github.com/open-rdc/orne-box
wstool init
wstool merge orne-box/orne_box_pkgs.install
wstool up
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/catkin_ws
catkin build
source ~/.bashrc

Personally added

Please change part of file icart_mini_drive.launch in location src/icart_mini/icart_mini_driver/launch

<arg name="scan_dev" default="/dev/sensors/hokuyo_urg" unless="$(arg use_eth_urg)"/>

→

<arg name="scan_dev" default="/dev/sensors/hokuyo_H0803606" unless="$(arg use_eth_urg)"/>

Excecution

On simulator (gazebo)

roslaunch orne_box_bringup orne_box_sim.launch
roslaunch orne_box_navigation_executor nav_static_map.launch

On real robot
Under constructing

Hardware

• Design Data (Under Constructing)

Reference

• orne-x (designed in 2017)

Paper

1. 井口 颯人、樋高 聖人、石江 義規、上田 隆一、林原 靖男，”屋外自律移動ロボットプラットフォーム ORNE-box の開発”，3H2-03，SI2021(2021)
2. 井口颯人，樋高聖人，野村駿斗，村林孝太郎，上田隆一，林原靖男，"屋外自律移動ロボットプラットフォームORNE-box の開発"，日本機械学会ロボティクス・メカトロニクス講演会'23予稿集，1P1-I06(2023)