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Welcome to the ORION project wiki: a low-cost, modular, and extensible robot designed for Human-Robot Interaction (HRI) applications within the ROS 2 Jazzy ecosystem.
ORION combines multiple technologies like ROS 2, GZ Sim, µ-ROS, Computer Vision (CV), and Artificial Intelligence (AI), offering a robust and educational platform for universities, research centers, and robotics enthusiasts.
This wiki is designed to guide you through the constructionhttps://github.com/Tesis-ORION/orion_common/blob/main/docs/readmes/orion_hi.gif, versioning, deployment, and customization of ORION.
Here you'll find technical information, step-by-step guides, simulations, open hardware, and detailed documentation of every robot component.
Whether you're looking to simulate, build the robot, or expand it with your own modules — this is the place to start.
🧠 orion_common – Core System Functionality
This repository includes the essential packages that allow ORION to operate in both simulation and real hardware environments.
| 📦 Package | Description |
|---|---|
| orion | Meta-package that groups the core packages to simplify compilation and deployment. |
| orion_assets | Directory that contains the original FreeCAD model files of there robot, and the manufacturing files for 3D print and laser cut |
| orion_base | Main node for the robot base: includes odometry logic, differential control, and tf publishing. |
| orion_bringup | Scripts and launch files to start the robot in simulation or on real hardware with a single command. |
| orion_control | Integration with ros2_control and custom drivers for motors and actuators. |
| orion_description | URDF/XACRO robot models, sensors, frames, meshes, and robot_state_publisher definitions. |
| orion_docker | Dockerfiles and scripts to build ready-to-run Docker containers using DevContainers. |
| orion_utils_py | Auxiliary Python tools: configuration management, visualization, and useful calculations. |
⚙️ This repository is the functional heart of ORION. If you're getting started, we recommend cloning it first and exploring each of its packages.
In addition to the core system, ORION integrates supplementary tools that extend its capabilities in HRI, mapping, navigation, and multimodal communication.
| 📦 Repository | Description |
|---|---|
| emotion_detector | Real-time emotion detection module using CV and CNNs. Enables the robot to adapt its behavior based on perceived emotions. |
| orion_chat | Integration of STT (speech-to-text), TTS (text-to-speech), and AI models to allow natural conversations with users. |
| orion_tools | Toolset and configurations for navigation (nav2), SLAM (slam_toolbox, cartographer), and teleoperation via keyboard or joystick. |
| orion_web_interface | Web interface for monitoring, visualization, and remote control of the robot via WebSockets. |
| audio_messages | Custom ROS 2 message types for transmitting text and audio within the system, mainly related with ORION chat applications. |
| depth_ydlidar_os30a | Driver and configuration for the OS30A LIDAR, for depth image and cloud points.. |
| depth_maixsense | Node for the MaixSense A010 camera, compatible with ROS 2 to capture depth video. |
| depth_orbbec_astra | Driver for the Orbbec Astra S camera, ROS 2 Jazzy-compatible to get RGBD videos. |
| orion_gz | GZ Sim configuration and model for using ORION in simulation when you do not have the real robot. |
🚀 These modules can be used independently or integrated with orion_common to equip ORION with advanced perception and communication abilities.
- 👉 Check the orion_common section to learn the fundamentals.
- 👉 Review the hardware in the build wiki to assemble your ORION.
- 👉 Use orion_bringup to launch the real robot or use (orion_gz)[https://github.com/Tesis-ORION/orion_gz/tree/dev] to try the simulation.
- 👉 Explore the additional packages based on your interests (SLAM, voice, emotions…).