Robot Control

Keyboard Layout

Exit	2	3	4	5	6	7	8	9	0
LJ4 ↑	LJ1 ↑	LJ4 ↓	R	T	Y	RJ4 ↑	RJ1 ↑	RJ4 ↓	P
LJ2←	LJ1 ↓	LJ2→	F	G	H	RJ2←	RJ1 ↓	RJ2→	;
Lj3←	LJ3→	LJ5 open	LJ5 close	Reset	RJ5 open	RJ5 close	RJ3←	RJ3→	/

References

• Left Arm: https://github.com/otischung/robot_arm_esp32/tree/left-arm-J5-master
• Right Arm: https://github.com/otischung/robot_arm_esp32/tree/right-arm-J5-master
• Docker Image: https://github.com/otischung/pros_AI_image

Project Architecture

Prerequisites and Installations

Below are the devices we need.

• Arduino ESP32 *2
• Arm-control board, e.g., Raspberry Pi, Jetson Orin Nano

1. Follow the link for the left and right arms shown above to upload Arduino C++ code to ESP32.

2. Pull the docker image into the arm-control board by the following command:

   docker pull ghcr.io/otischung/pros_ai_image:latest
   

3. Download this project into the arm-control board.

Usage

1. In the arm-control board, run the robot control shell script to create the container.

2. Run colcon build --symlink-install to build the project "robot_control".

3. Open the arm writer, and arm keyboard inside the container.

   ros2 run robot_control arm_writer
   ros2 run robot_control arm_keyboard
   

• We've defined the ttyUSB0 to be the left robot arm and the ttyUSB1 to be the right robot arm.

• If the order of the ttyUSB ID is not like we expected, then you can pass the argument into the ROS node.

• If the argument is string, then it will be set directly.

  ros2 run robot_control arm_writer --ros-args -p left:=/dev/ttyACM0 -p right:=/dev/ttyUSB0

• If the argument is integer, then this integer will be appended to /dev/ttyUSB.

  ros2 run robot_control arm_writer --ros-args -p left:=0 -p right:=1

  This is same as

  ros2 run robot_control arm_writer --ros-args -p left:=/dev/ttyUSB0 -p right:=/dev/ttyUSB1

• The setup method is same for arm_reader.