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Erwhi Hedgehog

ROS Software Maintainer and robotic platform mainteiner: Giovanni di Dio Bruno website

https://user-images.githubusercontent.com/9216366/57075439-1e1d6980-6ce7-11e9-84d5-a9d73a3408ec.jpg

Erwhi Hedgehog is an open source and open hardware robotic platform. It is probably the smallest ROS AGV available due the small 120x120mm footprint. The standard package allows to:

  1. 3d SLAM by RTABmap;
  2. teb planner;
  3. autonomous navigation;
  4. mobilenet-ssd detection in real-time and tracking on 3d map at standard frame rate.

Motors control is managed by using a custom carrier board called Sengi. It allows a 1kHz motors control loop and usb connection. Power management is also managed by this board (2 Li-Ion 18650 input and 5V@8A output).

A BNO055 is used as IMU and a Realsense D435i is the vision sensor.

Mobilenet-ssd runs on a Myriad X VPU.

Here a video of Erwhi running with RTABmap in a metro station. youtube video

Installation

Check this wiki to setup Erwhi Hedgehog github wiki

Tutorials

1. Standard setup

Implemented ROS stacks.

https://user-images.githubusercontent.com/9216366/82806604-71300480-9e86-11ea-8661-88f8bcd5e0c9.jpeg

Here is shown a simple configuration of Erwhi's nodes.

https://user-images.githubusercontent.com/9216366/82806598-6ecdaa80-9e86-11ea-8fb2-92ce14dbd93a.jpeg

2. AWS Robomaker

AWS Robomaker tutorial

3. Gazebo

Gazebo tutorial

Support

  1. Main repo: erwhi github page

  2. Webpage: robot land page

  3. Erwhi/enthusiasts: gitter

Hardware Overview

  1. Instruction manual: manual pdf

  2. 3D printable files: stl repository

  3. Sengi carrier board: sengi github

  4. Encoder kit: encoder github

Library Overview

1. Basic Configuration

Component

ROS package/stack

Erwhi main package

https://github.com/gbr1/erwhi-hedgehog-ros

2. Hardware Drivers

Component

ROS package/stack

Sengi carrier ROS node

https://github.com/gbr1/sengi_ros

3. High-Level Capabilities

Component

ROS package/stack

OpenVINO for Myriad X

https://github.com/gbr1/ros_openvino

4. Sensor Drivers

Component

ROS package/stack

BNO055 imu

https://github.com/gbr1/bosch_imu_driver

RealSense D435

https://github.com/IntelRealSense/realsense-ros

5. Other packages

Component

ROS package/stack

Erwhi apps

https://github.com/gbr1/erwhi-hedgehog-apps

Erwhi AWS re:Mars 2019 demo

https://github.com/gbr1/erwhi_remars_2019


2022-05-28 12:23