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This repository focuses on documenting a ROS-based UGV system that I developed. The system utilizes a Raspberry Pi (3B+) along with a camera, lidar, and motors to provide basic functionality. The Raspberry Pi runs Ubuntu 16.04 LTS with ROS Kinetic pre-installed via an image from Ubiquity Robotics. Follow their documentation to understand more about uploading the image to the Raspberry Pi. The workstation also runs Ubuntu 16.04 LTS with ROS Kinetic, which can be setup following this documentation.
To understand the purpose of this project, it is imperative to delve into the intended functionalities of the robot. The feature table serves as a guiding framework, precisely delineating the sub-goals of ULTRON. It is also important to note that while I have developed certain components of the software, not all of it is my intellectual property. I am committed to diligently documenting all sources and attributing them appropriately.
| Feature | Description | Package(s) | Status |
|---|---|---|---|
| Teleoperation | Workstation has control over the robot remotely. | exmachina (dev) & rosserial (git) | ✅ |
| Vision | Workstation has the ability to see visual feedback from the robot remotely. | raspicam_node (git) & rqt_image_view (git) | ✅ |
| LiDAR | Workstation has the ability to detect a surface with a laser and measure the time for the reflected light to return to the receiver. | ydlidar (web) & rviz (git) | ✅ |
| Map Making | Workstations can use the robot to build a map and localize at the same time. | hector_slam (git) | ✅ |
| Person Detection | Workstation can observe the robot detecting the "location of the person" as an object and marking the area in which the person is located. | opencv (git) & rqt_image_view (git) | 🔜 |
| Path Planning | Workstation provides a destination, and the robot finds the shortest and most obstacle-free path from the start to goal state. | N/A | 🔜 |
Here is a quick overview of the list of main electrical and mechanical components used to create ULTRON:
| Electrical Components | Price | Image |
|---|---|---|
| 64GB Micro SD Card x1 | $5 |  |
| Raspberry Pi 3 Model B+ x1 | $35 |  |
| Arduino Mega 2560 REV3 x1 | $36 |  |
| YDLIDAR X2L x1 | $70 |  |
| DC 12V 120RPM Gear Motor x4 | $60 |  |
| L298N Motor Driver x2 | ~$20 |  |
| 1080P Webcam 5MP OV5647 x1 | ~10 |  |
| 12V 2000mAh Battery x1 | ~$20 |  |
| LM2596 Adjustable DC-DC Step Down Buck Power Convert Module 4.0-40V Input to 1.25-37V x1 | $5 |  |
| Mechanical Components | Price | Image |
| Mecanum Wheels x4 | ~$20 |  |
| M4 x 60 mm F Hexconnector x6 | ~$10 |  |
| Total Cost: | $291 | Note: some prices are based on wholesale price |
