ROS Mapping and Navigation Robot Build with Nvidia Jetson Nano

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Hello Everyone…

Recently I started learning ROS and I was able to do a differential drive robot build with 2D Mapping with Gmapping and 3D mapping with RTAB-Map with Microsoft Kinect v1 with Nvidia Jetson Nano. So I’m here to share my experience with you… I posted a video on youtube of the build i did. I named it NavBot.

Check this out…

So i was able perform SLAM with Gmapping and i had to build gmapping from the source as it is not updated for ROS melodic. I added gmapping source package files into my project git so it will be easy to use. I used Differential drive controller from ROS Control to get odometry.

Here is the Link to project GitHub repository

If i visualize 3D point Clouds in Nano, It seems to get stuck so i did visualizations in my laptop connected to ROS master running on the Nano. Other than that everything worked fine.

So if you are doing a similar build, I think this will help and if you having problems related to this, Please comment it here i’m really happy to help.

Thanks.

7 Likes
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Hey! Could you guide me on how to configure it? Thanks!

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Help me a little bip here!

Nano can be used without external PC for making the map?

On Raspberry PI only getting the rosbag is really doable

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Hello, what driver you used for the kinect? in my case openni for melodic didnt produce managable point clouds and after searching i found that openni in melodic doesnt work with arm processors,
freenect didnt compile in melodic
so i used docker and it work…