A repo for getting the Nvidia Jetson / Jetbot running on a Roomba! We've slightly modified the framework provided by Nvidia's JetBot repo. You should start there, and then consider modifiying the motor control using the source code within this repo.
Trained and Avoiding Collisions
The easiest option is to use a USB->TTL converter. (e.g. Amazon) It should be possible to use the JetBot's UART lines, but I haven't tried it.
For convenience, the Roomba's serial pinout is shown here:
We're making use of a custom mount that holds the JetBot and camera.
Todo: Add STL files.
Clone this repo! You'll then need to add the Python files to the installed location of the JetBot Python3 module. (e.g. /usr/local/lib/python3.6/dist-packages/jetbot-0.3.0-py3.6.egg/jetbot/)
To use these motor/robot modules within the JetBot Jupyter Notebooks, you'll need to replace the robot object, e.g.:
from jetbot import roombarobot
robot = roombarobot.Robot()
It's recommended you try this out using the tele-operation Jupyter Notebook to make sure things are working.
- The Roomba will go into a safe mode if it is picked up or a wheel goes off the edge of table. The current code will not change the mode until it's re-initialized.
- If serial communication is idle for awhile, the Roomba turns off. You'll need to press the power button on the Roomba to wake it back up.