Kaya is a three-wheeled holonomic drive robot manufactured by Nvidia. This repository contains the control system developed for Kaya, created as part of a college assignment. Due to the unavailability of the old Isaac SDK, Docker and ROS2 Humble were used as the primary development tools.
- Name: Kaya
- Drive System: Three-wheeled holonomic drive
- Manufacturer: Nvidia
- Purpose: Developed for a college assignment
- Challenges: Old Isaac SDK not available
- Tools Used:
- Docker
- ROS2 Humble
- Generated a 3D point cloud map using intelrealsense camera D435i
- Employed RtabMap for mapping and saved the generated map
- Implemented object detection using YOLOv8
- Integrated collision avoidance mechanism into the control system by depth sensing of Intelrealsense camera D435i
- Integrated Isaac Sim for simulation
- Utilized RViz2 for real-time visualization
- Isaac SDK: Not used due to unavailability; Docker and ROS2 Humble were chosen as alternatives for development.
Special thanks to Nvidia for the Kaya robot platform. Acknowledgments for the college assignment given by Professor Sunil Jha inspired this project and to my teammate Varun Shukla