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This repository showcases the power of MicroROS for real-time communication and control in robotic systems.\n\n---\n\n## About the Project\n\nVector Bot Lite is an ongoing project that focuses on integrating **MicroROS** into a low-cost differential drive robot. This is an extension of ROS 2 tailored for microcontrollers. This project demonstrates how to enable efficient robotic communication with limited hardware resources, suitable for lightweight and modular robotics applications.\n\n---\n\n## Features\n\n- **MicroROS Integration**: Seamless communication between a custom-built differential drive robot and ROS 2 systems.\n- **Real-time Control**: Execute precise movements and commands with minimal latency.\n- **Scalable Architecture**: Supports easy upgrades and feature extensions.\n- **Cross-platform Compatibility**: Compatible with Linux, Windows, and macOS.\n\n---\n\n## Requirements\n\n- **[MicroROS Agent](https://micro.ros.org/docs/tutorials/core/first_application_linux/)**: Follow the steps on the page to create a MicroROS agent.\n- **ROS 2 Humble**: The latest version of the Robot Operating System.\n- **[PlatformIO](https://platformio.org/)**: Available as a VSCode extension.\n- **ESP32 WROOM-DA Microcontroller**: Check [this page](https://micro.ros.org/docs/overview/hardware/) for hardware compatibility.\n\n## Hardware Requirements\n- ESP32 WROOM-DA Module with expansion board\n- TT Gearbox Motors with encoder disks x2\n- Wheels with rubber tires x2\n- L298N Motor Driver\n- 7.4V Lipo battery\n- Optical encoders x2\n- LM2596 DC-DC Buck converter\n- SSD1306 OLED I2C 128x64 Display\n\n---\n\n## Getting Started\n\n### Prerequisites and Installation\nClone the repository and open the project on PlatformIO.\n\n```bash\n# Clone the repository\ngit clone git@github.com:nsaitarun-git/VectorBot_MicroROS_v3.git\n```\n\n### Update WiFi Credentials\nWithin the ```/lib/ros_publisher_subscriber/ros_publisher_subscriber.cpp``` file, edit the following lines with your WiFi credentials and PC IP address.\n\n```c++\n// WiFi credentials\nIPAddress agent_ip(192, 168, 0, 0);\nchar ssid[] = \"yourssid\";\nchar psk[] = \"yourpassword\";\n```\n\n### Start the MicroROS Agent via WiFi\nNavigate to the MicroROS agent workspace directory and enter the following commands.\n\n```bash\n# Source the workspace\nsource install/setup.bash \n\n# Start the agent\nros2 run micro_ros_agent micro_ros_agent udp4 --port 8888\n```\n\n### Start Controlling the Robot\nThe ```teleop_twist_keyboard``` package can be used to drive the robot. It can be installed with the following commands.\n\n```bash\n# Install teleop_twist_keyboard package\nsudo apt-get update\nsudo apt-get install ros-humble-teleop-twist-keyboard\n```\n\nOnce the package has been installed, you can run the node using the following command.\n\n```bash\nros2 run teleop_twist_keyboard teleop_twist_keyboard\n```\n\nYou should be able to drive the robot using your keyboard now. You can also see the encoder counts or \"ticks\" with the ```/encoder_counts``` topic. \nUse the following command to view the data being published to the topic.\n\n```bash\nros2 topic echo /encoder_counts\n```\n\n# License\nThis project is licensed under the MIT License. See the [LICENSE](https://github.com/nsaitarun-git/VectorBot_MicroROS_v3/blob/main/LICENSE) file for details.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnsaitarun-git%2Fvectorbot_microros_v3","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fnsaitarun-git%2Fvectorbot_microros_v3","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnsaitarun-git%2Fvectorbot_microros_v3/lists"}