RaspiRover

Small ROS/Raspberry controlled roboter

Features:

• RPI based robot
• DC motor control by using wiringpi PWM
• Motor ODM encoder by using wiringpi interrupts
• RTIMULib (git clone https://github.com/RPi-Distro/RTIMULib.git)
• Raspberry Camera Node
• Controlled by Wireless Joystick connected on RPI USB Port
• HC-SR04 ultrasonic range sensor

TODO/Plan:

• Autonomous navigation and map building

RPI Connection:

• PWM Motor Driver
  GPIO_PWML 19
  GPIO_IN0L 26
  GPIO_IN1L 13
  GPIO_PWMR 21
  GPIO_IN0R 20
  GPIO_IN1R 16
  

• Sonar (HC-SR04 PWM signal)
  GPIO_SONAR 4
  

• Line Laser On/Off
  GPIO_LASER 23
  

• DC Motor wheel encoder input
  GPIO_ODOL 5
  GPIO_ODOR 6
  

• RPI Camera
  

• IMU/MPU-9250 RPI I2C Pins
  

• Real Time Clock
  RPI I2C Pins
  

RPI Installation:

install Ubuntu Mate
Install ROS (kinetic) using apt-get

git clone https://github.com/MS71/raspirover.git

source /opt/ros/kinetic/setup.sh
cd raspirover/ros_catkin_ws
source devel/setup.sh
roslaunch raspirover raspirover.launch

install ROS web interface

sudo apt-get install lighttpd
cd /var/www
mv html html.org
ln -s /home/pi/raspirover/ros-control-center html

On Host:

ROS_MASTER_URI=http://raspirover:11311

ROS configuration: