Robotino mBot

The repository contains the directories:

1. robotino_arduino : Includes source code for running ros_nodes on Arduino Mega.
2. robotino_ros : Includes high level applications.

1. Setting up

• Clone the repository to your computer.

• Clone the compatible rosserial to your catkin_ws and compile.

  Arduino End

  • Copy the files under 'robotino_arduino to your arduino sketch libraries.
  • Open robotino_arduino_IO on your adrduino IDE and burn the sketch to your board (Currently supported Arduino MEGA only).

  ROS End

  • Move the robotino_ros folder to your catkin_ws and compile.

• Open bashrc and add following lines then source.

  • export ROS_IP=http://<Your IP adadress>
  • export ROS_MASTER_URI=http://<Your MASTER(Robotino) IP adadress>:11311

• Connect the arduino/robot with the companion computer.

2. Running programs on Robotino

• SSH into Robotino from your companion computer as ssh nvidia@134.28.45.77
• Once you have done the setup and everything works smooth. Call roscore in a terminal.
• Now in a separate terminal run the following. Make sure you have permissions to access the port.
  • rosrun rosserial_python serial_node.py /dev/ttyACM0 _baud:=115200
• Then run the following
  • roslaunch robotino_ros robotino.launch
• Finally, run
  • rosrun robotino_ros teleop_twist_keyboard.py
• Robot can now be controlled using teleop.