OmniNxt

A compact aerial robot with omnidirectional visual perception for autonomous navigation and mapping.

This repository has no photo of the robot yet.

What it can do

Written by Robotheca from the project's documents.

This repository has no parts list Robotheca can read yet.

The creator's steps, each with its instructions.

The guide appears here as you scroll.

Guide by @HKUST-Aerial-Robotics (README.md), under GPL-3.0-only.

Notes written by Robotheca from the project's documents.

Camera modules connected to OAK-FFC-4P via customized cables
OAK-FFC-4P connected to Jetson Orin NX via USB or MIPI interface
Jetson Orin NX carrier board provides power and data to OAK-FFC-4P
Nxt-FC flight controller connected to motors and Jetson Orin NX via serial or I2C
Intel AX200 Wi-Fi card connected to Jetson Orin NX via M.2 slot
2230 SSD connected to Jetson Orin NX via M.2 slot

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 79ce1d4. It isn't a rating of the robot.

3D and CAD files0/20
No printable parts or CAD files.
Most points to gain: Add the parts to print (STL or 3MF files). Add the CAD source (STEP, or the CAD program's own files) so people can change the design.
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Instructions to install or run it, built on ros.
Link to your code, or add it to this repository.
Documentation15/15
README of 5,821 characters with 1 picture; 5 build steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: GPL-3.0-only; software: GPL-3.0-only.

Written by Robotheca from the project's documents.

Clone the D2SLAM repository with branch pr_fix_main
Configure quad-cam and VINS parameters in ./D2SLAM/config/quadcam_drone_nxt_tmp
Modify ./start_docker.sh with local paths and run it to start the Docker container
Inside the container, source the ROS workspace and run roslaunch d2vins quadcam.launch to start Omni-VINS and Omni-Depth
Alternatively, run roslaunch d2vins quadcam.launch to start only Omni-VINS or roslaunch quadcam_depth_est depth-node.launch to start only Omni-Depth

Robotheca doesn't review code. Read it before running it.

Every file of the project: code, CAD, electronics, guides, at commit 79ce1d4.

Questions and improvements go to the creator's repository.