🤖 Autonomous Jetson Robot

A modern ROS2 Foxy autonomous robot system with web-based control interface, designed for Jetson Nano deployment.

✨ Features

• 🎮 Gazebo Simulation - Full robot simulation environment
• 🌐 Modern Web Interface - Professional control dashboard
• 🎯 ROS2 Control Integration - Industry-standard robot control
• 📱 Mobile-Friendly - Responsive design for all devices
• ⌨️ Keyboard Control - WASD + Arrow key support
• 📊 Real-time Monitoring - Live metrics and system status
• 🔧 Easy Configuration - Simple setup and deployment

🚀 Quick Start

Prerequisites

• Docker installed and running
• Container auto_ros_foxy available

Simple Commands

# Start simulation with web interface
./robot.sh sim

# Start real robot
./robot.sh robot

# Open web control interface
./robot.sh web

# Enter robot container for debugging
./robot.sh shell

# Show robot status
./robot.sh status

# Stop all robot processes
./robot.sh stop

🌐 Web Interface

Once running, access the robot control interface:

• Control Dashboard: http://localhost:8000
• ROSBridge WebSocket: ws://localhost:9090

Controls

• WASD Keys or Arrow Keys: Move robot
• Spacebar: Emergency stop
• Mouse/Touch: Use on-screen D-pad
• Sliders: Adjust speed limits

📁 Project Structure

autonomous_jetson_robot/
├── robot.sh                    # Main control script
├── src/
│   ├── my_robot_launch/        # Robot launch files & URDF
│   ├── web_gui_control/        # Modern web interface
│   ├── object_detection/       # Camera & object detection
│   ├── mpu6050_imu/           # IMU sensor integration
│   └── slam_launch/           # SLAM configuration
├── config/                     # Configuration files
└── README.md                  # This file

🎮 Usage Examples

Start Simulation

./robot.sh sim
# Opens Gazebo + Web interface
# Control robot at http://localhost:8000

Control Real Robot

./robot.sh robot
# Starts real hardware interface
# Control via web interface

Debug & Development

./robot.sh shell
# Enter container for ROS development
# Full ROS2 environment available

🔧 Configuration

Robot Settings

• Max Linear Velocity: 1.0 m/s
• Max Angular Velocity: 2.0 rad/s
• Wheel Separation: 0.18m
• Wheel Radius: 0.035m
• Encoder Resolution: 3436 counts/rev

Network Settings

• Web Server: Port 8000
• ROSBridge: Port 9090
• Auto IP Detection: Supports multiple network interfaces

📊 Monitoring

The web interface provides real-time monitoring:

• Wheel RPM: Left/Right wheel speeds
• Velocities: Linear and angular motion
• System Health: CPU, memory, battery status
• Activity Log: Real-time event logging
• Connection Status: Visual connection indicator

🛠️ Development

Build Workspace

./robot.sh build

View Logs

./robot.sh logs

Clean Build Files

./robot.sh clean

🎯 Key Components

ROS2 Packages

• my_robot_launch: Main robot launch system
• web_gui_control: Modern web interface
• object_detection: MobileNetSSD object detection
• mpu6050_imu: IMU sensor integration
• slam_launch: SLAM toolbox configuration

Hardware Support

• Motor Control: TB6612FNG dual motor driver
• Sensors: RPLidar A1, MPU6050 IMU, Camera
• Communication: Micro-ROS, ROSBridge WebSocket
• Platform: Jetson Nano, ROS2 Foxy

🚀 Deployment

Jetson Nano

1. Copy project to Jetson Nano
2. Run ./robot.sh robot for real hardware
3. Access web interface from any device on network

Development

1. Use ./robot.sh sim for simulation testing
2. Develop and test features safely
3. Deploy to real hardware when ready

📝 License

MIT License - Feel free to use and modify for your projects.

🤝 Contributing

Contributions welcome! The modular architecture makes it easy to add new features:

• New Sensors: Add to hardware interface
• Web Features: Extend the modern web GUI
• AI/ML: Integrate with object detection
• Navigation: Add path planning capabilities

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Happy Robot Building! 🤖✨