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README.md

HeRo: An Open Platform for Robotics Research and Education

N|Solid

This project contributes to an open source ROS-based framework for swarm robotics. We propose an low cost, high availability swarm system that could be printed and assembled multiple times without special knowledge or hardware skills.

Authors:

On Development (New Version 2018)

  • Wheels encoders
  • Inertial Motion Unit (IMU)
  • General Purpose Bus (I2C/Serial/IO)
  • Communication Improves
  • Setup via Web Interface
  • Small design
  • and more...

Dependencies

How to install HeRo driver node

  • Using git (or download the zip file) clone this repository into ros workspace.
  • Compile with:
$ catkin_make
  • Fixing package dependencies:
$ rosdep install hero_driver

How to install the firmware

Robots Firmware

  • Open the robot code inside the sketchbook.
  • Change the essid and password parameter to acess the ROS master.
  • Set an ID for each robot.
  • Connect HeRo at USB and upload the code.

How to start the ROS node

  • Run the hero_node.launch file with:
$ roslaunch hero_driver hero_driver.launch
  • Turn on the robots.

Teleop Demo

  • Run the hero_teleop.launch file to control it and set the specific robot id:
$ roslaunch hero_driver hero_teleop.launch robot_id:=1

AR Tracker

  • Connect the camera
  • Run the hero_tracker.launch file to get the pose of all markers into the camera view:
$ roslaunch hero_driver hero_tracker.launch

Some Videos

IMAGE ALT TEXT