OMNI: Omnidirectional Motion for Navigation Indoors

Code for the OMNI robot

Hardware

• Intel Realsense D435i depth camera
• Raspberry Pi 4B
• Arduino Mega 2560
• LSM9DS1 IMU
• 4x stepper motors

Software

• Ubuntu 16.04
• ROS Kinetic

Some useful details for understanding the robot.

• Libraries or packages installed

• ROS nodes

Works using this robot

• [1] Luiz Eugênio Santos Araújo Filho, Multi-robot autonomous exploration and map merging in unknown environments, Mestrado Acadêmico em Engenharia Eletrônica e Computação, 2021;
• [3] Leonardo Mariga, Solving the simultaneous localization and 3D mapping problem in mobile robotics using multi-level parameterized representations, Mestrado Acadêmico em Engenharia Eletrônica e Computação, 2021;