Omninado

Omninado is an open-source omnidirectional and omni-purpose robot built on the ROS 2 framework.

Extensive documentation has/will been written in the README.md and code of the various Omninado packages included in this repository. If you feel that something is missing and should be documented please create an issue. Pull requests are also welcome.

This project is currently in the early stages of development and is not yet fully functional or ready for general use. Key features are still being implemented, and significant updates are expected. As such, the project's usability will be limited. Contributions, feedback, and suggestions are welcome to help improve this robot.

Planned / Implemented Features

See JOURNAL.md to know the progress on the implementation of these features. Also see design/ to know more about how the robot has been designed.

• Omnidirectional Movement
• SLAM with 2D Lidar and Depth Camera
• Outdoor and Indoor Navigation with Nav2
• Object Detection and Tracking using Camera
• Jamming Gripper for Picking Various Objects

Installation

Ubuntu 24.04 Source Installation

You should be using Ubuntu 24.04 and have ROS 2 Jazzy already installed.

1. Clone the necessary repositories/packages:

git clone https://github.com/Amronos/omninado.git ~/omninado_ws/src
cd ~/omninado_ws/src
vcs import ./ < ./omninado/omninado.repos

2. Build the packages

cd ~/omninado_ws
colcon build --symlink-install

If building on a weaker system like a Raspberry Pi:

cd ~/omninado_ws
colcon build --parallel-workers=1 --executor sequential --symlink-install

3. Source the workspace

source ~/omninado_ws/install/setup.bash

4. Launch the simulation

ros2 launch omninado_sim_bringup full_sim.launch.py