Blink-192 is an experimental Rapsberry Pi robot that uses ROS to move and stream video.
Heavily based on the Teleop-bot example from Programming Robots with ROS O'Reilly Media
I named this robot Blink-192 because it has a lot of bright lights, and its local ip address starts with 192.
Originally, this robot used OpenCV to track and pick up all the small things around the office, but later I modified it to learn ROS.
opencv branch still has the original implementation (https://github.com/TheoKanning/Blink-192/tree/opencv).
Blink-192 is made with the following hardware:
- Raspberry Pi 3
- Waveshare AlphaBot - I bought this kit without a Pi Included
- Raspberry Pi Camera 2
- 7.4V LiPo Battery - I bought this one
Note that this particular Ubuntu image isn't required, but it comes with ROS pre-installed and creates a wifi access point automatically.
ROS Package Structure
keyboard_driver: Reads keystrokes and publishes them to the
keys_to_twist: Converts key messages into
Twistcommands and publishes them to the
motors: Subscribes to
cmd_veland controls motors
raspicam_node: Publishes video stream to
Stringcontaining latest keystroke
Twistcontaining desired linear and angular velocity
sensor_msgs/Imagefrom Raspberry Pi Camera
config.rviz: Configures rviz to show
keyboard_drivernode and rviz
run-local.launch: Runs everything