My little Raspberry Pi and ROS robot - with python.
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README.md

minibot

My little Raspberry Pi and ROS robot - with some python stuff

Setup

Motor Hat

cd ~
git clone  https://github.com/adafruit/Adafruit-Motor-HAT-Python-Library.git
cd Adafruit-Motor-HAT-Python-Library
sudo apt-get install python-dev
sudo python setup.py install

OLED LCD (I2C)

cd ~
sudo apt-get install build-essential python-dev python-pip
sudo pip install RPi.GPIO
sudo apt-get install python-imaging python-smbus
git clone https://github.com/adafruit/Adafruit_Python_SSD1306.git
cd Adafruit_Python_SSD1306
sudo python setup.py install

AD converter (MCP3008 via SPI) (ADS1015 via I2C)

cd ~
sudo apt-get install build-essential python-dev python-smbus
git clone https://github.com/adafruit/Adafruit_Python_ADS1x15.git
cd Adafruit_Python_ADS1x15
sudo python setup.py install

ROS Setup

  • Install ROS on Raspberry Pi
  • Install necessary ROS packages:
sudo apt-get install ros-kinetic-urg-node ros-kinetic-teleop-twist-keyboard
  • create a catkin workspace without 'src' folder:
mkdir catkin_ws<br>
cd ~/catkin_ws
  • create symbolic link with the name 'src' point to the 'src' folder in the ROS directory in this repository:
ln -s /home/$USERNAME/minibot/ROS/catkin_workspace/src/ src
catkin_make

Other helpful stuff

  • joystick/gamepad driver/test programm
sudo apt-get install joystick

Run/Test ROS

On the robot (Raspberry Pi):

roslaunch minibot.launch

On another computer:

export ROS_MASTER_URI=http://hostname:11311
roslaunch ground_control.launch