{"id":18247852,"url":"https://github.com/samyarsadat/ros-robot","last_synced_at":"2025-04-04T15:31:49.666Z","repository":{"id":61543651,"uuid":"509789251","full_name":"samyarsadat/ROS-Robot","owner":"samyarsadat","description":"My R.O.S. 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It Shut)\r\nA LIDAR sensor will be added.\u003cbr\u003e\r\nThe robot will be able to map and navigate its environment.\u003cbr\u003e\r\n\u003cbr\u003e\r\n\r\n#### Stage 3 (Samyarm 1)\r\nA robotic arm will be added for object manipulation.\u003cbr\u003e\r\n\u003cbr\u003e\r\n\r\n#### Stage 4 (Back To The Shipyard)\r\nAfter stage 3 is completed, I plan to re-design some parts of the robot chassis and PCB.\u003cbr\u003e\r\nThis will improve upon the current design and allow for future stages and expansions.\u003cbr\u003e\r\nMost of the wiring and general design will be kept the same.\u003cbr\u003e\r\nThis will only improve upon the current design.\u003cbr\u003e\r\n\u003cbr\u003e\r\n\r\n#### Future stages\r\nMore stages may be added as the project progresses.\r\n\r\n\u003cbr\u003e\r\n\r\n### System Architecture and Mechanical Design Overview\r\n#### System Architecture\r\nThe general architecture of the robot's electronics system consists of a main computer *(the Raspberry Pi 4B)* and two, \r\nless powerful microcontrollers *(the Raspberry Pi Pico/RP2040)*.\r\nThe Pi 4 handles image processing, mapping \u0026 navigation, and any other type of resource-intensive processing \r\nwhilst the less-powerful Picos handle I/O for motors, sensors, LEDs, etc.\u003cbr\u003e\r\n\u003cbr\u003e\r\nROS is used to handle communications between multiple nodes either on the same machine (i.e. a mapping node and a navigation node running on the Pi 4) \r\nor between external nodes (i.e. the two Raspberry Pi Picos running microROS). \r\nBoth Raspberry Pi Picos are connected to the Pi 4 via USB cables.\u003cbr\u003e\r\n\u003cbr\u003e\r\nMore details regarding the electronics design [here](Circuit%20Diagrams%20%26%20PCB%20Files/).\u003cbr\u003e\r\n\u003cbr\u003e\r\n\r\n#### Mechanical Design Overview\r\nThe mechanical design of the robot is quite simple. \r\nThe chassis of the robot is 3D printed in two halves using PLA filament (more details regarding 3D printing \r\n[here](CAD%20Files/STL%20files/)) and the robot uses four geared DC motors \r\n(Namiki 22CL-3501PG) in a differential drive configuration.\u003cbe\u003e\r\n\r\n\u003cbr\u003e\r\n\r\n## File Structure\r\nThere are 5 folders in this repository.\u003cbr\u003e\r\nTheir names and purposes are as follows:\r\n\r\n**.github**\u003cbr\u003e\r\nGitHub issue templates, pull request templates, etc.\u003cbr\u003e\r\n\r\n**Assets**\u003cbr\u003e\r\nAssets used on GitHub (such as images used in this README file).\u003cbr\u003e\r\n\r\n**CAD Files**\u003cbr\u003e\r\n3D CAD design files and 3D printing files for the chassis and other mechanical parts of the robot.\u003cbr\u003e\r\n\r\n**Circuit Diagrams \u0026 PCB Files**\u003cbr\u003e\r\nOverall circuit diagrams and PCB design files for the robot.\u003cbr\u003e\r\n\r\n**Source Code**\u003cbr\u003e\r\nSource code for the ROS package of the robot and for the firmware of the Raspberry Pi Picos.\u003cbr\u003e\r\n\r\n\r\n\u003cbr\u003e\r\n\r\n## Contact\r\nYou can contact me via e-mail.\u003cbr\u003e\r\nE-mail: samyarsadat@gigawhat.net\u003cbr\u003e\r\n\u003cbr\u003e\r\nIf you think that you have found a bug or issue please report it \u003ca href=\"../../issues\"\u003ehere\u003c/a\u003e.\r\n\r\n\u003cbr\u003e\r\n\r\n## Contributing\r\nPlease take a look at \u003ca href=\"CONTRIBUTING.md\"\u003eCONTRIBUTING.md\u003c/a\u003e for contributing.\r\n\r\n\u003cbr\u003e\r\n\r\n## Credits\r\n| Role           | Name                                                             |\r\n| -------------- | ---------------------------------------------------------------- |\r\n| Lead Developer | \u003ca href=\"https://github.com/samyarsadat\"\u003eSamyar Sadat Akhavi\u003c/a\u003e |\r\n| CAD Design     | \u003ca href=\"https://github.com/samyarsadat\"\u003eSamyar Sadat Akhavi\u003c/a\u003e |\r\n| PCB Design     | \u003ca href=\"https://github.com/samyarsadat\"\u003eSamyar Sadat Akhavi\u003c/a\u003e |\r\n\r\n\u003cbr\u003e\r\n\u003cbr\u003e\r\n\r\nCopyright © 2022-2024 Samyar Sadat Akhavi.\r\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsamyarsadat%2Fros-robot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsamyarsadat%2Fros-robot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsamyarsadat%2Fros-robot/lists"}