HyphaROS MiniBot pkg

Abstract

Low cost, user friendly Pi3 based mini robot for ROS developing !
Fully open-sourced (hardware & software), total cost <300USD.

About us

FB Page: https://www.facebook.com/HyphaROS/
Website: https://hypharosworkshop.wordpress.com/
Contact: hypha.ros@gmail.com
Developer:

• HaoChih, LIN

Date: 2018/02/25
License: Apache 2.0

Features

• Onboard mapping (ICP, Gmapping)
• STM32 for CL motor speed control
• AMCL localization
• Dynamic obstacle avoidance

Roadmap

• Documentation
• ROS 2.0 Multi-robots
• Video tutorial

Workshop slides

HyphaROS 1 day workshop for ROS beginner:
https://drive.google.com/open?id=1c4hmHLAmqBQ6BlPqjn0Ndqc4kjcha3j_QZMlMWGZYFE

Hardware

• Raspberry Pi3
• YDLidar X4
• STM32(F103) MCU (with OLED display, bluetooth)
• Diff Motor with A/B encoder(res: 340)
• MPU6050 or GY85
  Total Cost: < 300 USD

Software

Pi3 Image

Image file for Pi3.(with SD card >=16G, password: hypharos, 20180807)
https://drive.google.com/open?id=1T_zAk-VCeltvmmS3WjbETF68ym1zlGih
(if your SD card is around 13GB, it's OK to force Win32DiskImager to write the file!)

For mpu6050

SSH to Pi3, then open a terminal:
$ sudo apt install python-smbus
$ sudo pip install mpu6050-raspberrypi

STM32 (MCU)

Source codes (ver.20180808):
https://drive.google.com/open?id=15vc5UbdY-Elm-RBjZC8SI0G9rtcqtslp

Desktop Windows

VirtualBox Image (password: hypharos)：
https://drive.google.com/open?id=1xTVsPet6WT48Psete6iIkgg-gi1QdOht

Desktop Ubuntu (16.04)

64bit RAM > 4G
Install ROS Kinetic - (Desktop-Full Install) (http://wiki.ros.org/kinetic/Installation/Ubuntu)

$ sudo apt-get install remmina synaptic gimp git ros-kinetic-navigation ros-kinetic-amcl ros-kinetic-slam-gmapping ros-kinetic-mrpt-slam ros-kinetic-mrpt-icp-slam-2d ros-kinetic-robot-localization -y

create your own catkin_ws
(http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace)
$ cd catkin_ws/src
$ git clone https://github.com/EAIBOT/ydlidar
$ git clone https://github.com/Hypha-ROS/hypharos_minibot
$ cd ..
$ catkin_make

Operation

Ethernet Connection

The default static eth IP on Pi3 image is 10.0.0.1, hence, to connect to your Pi3 through cable, please set your host IP as 10.0.0.X
Notice: for the first bootup, you have to update Pi3 MAC address through HDMI Dispaly!

Wifi Connection

Use ethernet or display connection to make Pi3 connect to your local Wifi AP. Remember to set ROS_MASTER_URI and ROS_IP in .bashrc file in Pi3 image home folder.

Mapping

$ roslaunch hypharos_minibot HyphaROS_MiniBot_Gmapping.launch
OR
$ roslaunch hypharos_minibot HyphaROS_MiniBot_ICP.launch

Navigation

After mapping and modify two maps file (one for amcl, one for
nav) in map folder located in hypharos pkg, execute the command:
$ roslaunch hypharos_minibot HyphaROS_MiniBot_Nav.launch