nerf2face

Software for a Nerf gun robot that detects and shoots at the users face. Safety goggles are recommended.

The software runs on Raspberry 4 and is based on ROS 1 Melodic.

Requirements

HW Requirements:

• Raspberry Pi 4
• Raspberry Pi Camera V2.1
• Google Coral TPU: For running fac
• Servo / PWM Pi Hat from Adafruit: For controlling the servos
• 16 bit 12C ADC: For servo voltage feedback
• 2 HITec D485 HW Digital Servos: For aiming, hacked to read voltage
• 1 MG90S Micro Servo: For pulling trigger

SW Requirements:

• Raspbian 10 (buster)
• OpenCV 3.4.7 (guide below)
• OpenCV contrib 3.4.7
• ROS Melodic (guide below)
• Python 2.7.16
• Python deps (guide below)
• Boost

Install OpenCV with Contrib

Clone opencv and opencv_contrib alongside each other in a directory. Untested:

cd opencv
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE     -D CMAKE_INSTALL_PREFIX=/usr/local     -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules  -DCPU_BASELINE=NEON,VFPV3 -D ENABLE_NEON=ON -D ENABLE_VFPV3=ON    -D BUILD_TESTS=OFF     -D INSTALL_PYTHON_EXAMPLES=OFF     -D BUILD_EXAMPLES=OFF -DPYTHON_DEFAULT_EXECUTABLE=`which python3` ..
sudo make install

Install ROS Melodic

Untested:

mkdir ros_ws
cd ros_ws
../install_ros_melodic.sh

Python deps

pip2 install -r requirements.txt

Coral

1. Follow this guide to install the coral libraries.
2. Install bazel prebuilt from here.
3. Build & install libedgetpu using this guide. Install for Tensorflow version 1.15.0 (commit 590d6eef7e91a6a7392c8ffffb7b58f2e0c8bc6b).

Build

catkin_make
source devel/setup.bash

Run

roslaunch nerf2face nerf2face.launch