Integrating hardware and software for novel SLAM algorithm development on the ROS2-based NVIDIA Carter Robot

• Main Author: Ang, Samuel De Jie
• Other Authors: Andy Khong W H
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Engineering
• Online Access: https://hdl.handle.net/10356/176138
• Institution: Nanyang Technological University

This paper details the supporting of the development of a novel Simultaneous Localization and Mapping (SLAM) algorithm for autonomous delivery robots, emphasizing the need for a robust robotics testing platform. The research utilizes the NVIDIA Carter Robot, an open-source Robot Operating System 2 (ROS2)-based platform that aligns with the intended delivery robot in size and capabilities, as a testbed for the proposed solution. The fusion of the data from LiDARs and multiple depth sensors addresses the need for dynamic obstacle avoidance and path planning in unseen environments. The research encountered and addressed substantial hardware challenges, notably in the synchronization of the drivetrain with the onboard computational unit—a critical prerequisite for the robot's functional deployment. The need for multi-sensor and multi-modal algorithms to be running simultaneously also introduced additional complexities due to the limited data transfer bandwidth available. An integral component of the research also entailed the meticulous calibration of the robot's transformation in space within ROS to guarantee the efficacy of the SLAM algorithms. The results of this research demonstrate the feasibility of using multiple Intel RealSense cameras, as well as the viability of advanced SLAM techniques in realworld scenarios, thereby paving the way for future innovations in robotic autonomy.