Erwhi Hedgehog

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

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.

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

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

2. Hardware Drivers

3. High-Level Capabilities

4. Sensor Drivers

5. Other packages