Ecosyste.ms: Awesome

An open API service indexing awesome lists of open source software.

Awesome Lists | Featured Topics | Projects

https://github.com/atticusrussell/brobot

robot to learn about ROS2 and hopefully entertain my cat
https://github.com/atticusrussell/brobot

4wd lidar raspberry-pi raspberry-pi-4 robot robotics ros ros2 rpi4 yahboom

Last synced: about 1 month ago
JSON representation

robot to learn about ROS2 and hopefully entertain my cat

Host: GitHub
URL: https://github.com/atticusrussell/brobot
Owner: atticusrussell
License: apache-2.0
Created: 2023-06-23T00:54:49.000Z (over 1 year ago)
Default Branch: humble
Last Pushed: 2023-10-27T14:09:36.000Z (about 1 year ago)
Last Synced: 2023-10-28T01:21:14.315Z (about 1 year ago)
Topics: 4wd, lidar, raspberry-pi, raspberry-pi-4, robot, robotics, ros, ros2, rpi4, yahboom
Language: Python
Homepage:
Size: 15 MB
Stars: 0
Watchers: 2
Forks: 0
Open Issues: 7
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # BroBot

![CI Testing](https://github.com/atticusrussell/catbot/actions/workflows/.github/workflows/ros-test.yaml/badge.svg)

![CI Linting](https://github.com/atticusrussell/catbot/actions/workflows/.github/workflows/ros-lint.yaml/badge.svg)

A 4WD differential drive robot is controlled using ROS2 Humble running on a Raspberry Pi 4 (running Ubuntu server 22.04). The vehicle is equipped with a camera for visual feedback and an RPLIDAR A1 sensor used for Simultaneous Localization and Mapping (SLAM), autonomous navigation and obstacle avoidance. The Linorobot2 project is leveraged through my use of a Teensy 4.1 running a Micro-ROS node to interface with 4 motors/encoders and an IMU.

The intent of the project is to learn about robotics, and to eventually recognize my cat's face and follow/chase him for his entertainment. 

See [the workspace template](/template.md) for workspace usage instructions.

***(Work in Progress)***

## Tasks 

(non-exhaustive)

- [x] Simulate in Gazebo

- [x] Interface with motors

- [x] Finish Chassis Wiring

- [x] Fix linorobot2_hardware ROS versions / add CI

- [x] Integrate LIDAR

- [x] Integrate camera

- [x] Chase cat remotely

- [x] Replace DC-DC converter

- [x] Add battery voltage display/low-voltage cutoff

- [x] Fix SLAM

- [ ] Figure out how I want to use Nav2 in simulation

- [ ] Modify Nav2 launchfiles

- [ ] Use Nav2 with costmap and goal pose in simulation

- [ ] Test Nav2 with waypoints in simulation

- [ ] Investigate Nav2 AMCL

- [ ] Run Nav2 on real robot

- [ ] Do loop of house with Nav2 waypoints

- [ ] Integrate gamepad and twist_mux

- [ ] Implement OpenCV or similar to recognize cat

- [ ] Autonomously chase cat

- [ ] Convert CAD to more detailed URDF

- [ ] Patch kernel to enable use of RPi Camera Module 3

#### Supervision of URDF work



    



## Hardware

####  BroBot Front View



    



####  BroBot Side View



    



####  BroBot Rear Top View



    



#### BroBot Initial Construction



    



### Part list

The following components were used in this project:

| | Part |

| --| --|

|1| [Raspberry Pi 4 (4 GB)](https://www.raspberrypi.com/products/raspberry-pi-4-model-b/)|

|2| [AmazonBasics 128 GB SD Card](https://www.amazon.com/dp/B08TJRVWV1?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|3| [Yahboom Aluminum Alloy ROS Robot Car Chassis (4wd chassis)](https://category.yahboom.net/collections/a-chassis-bracket/products/ros-chassis)|

|4| [L298N Motor Drivers](https://www.amazon.com/dp/B07BK1QL5T?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|5| [DFRobot DC-DC Power Module 25W DFR0205](https://www.digikey.com/en/products/detail/dfrobot/DFR0205/6588491)|

|6| [Screw-down Terminal Block Strips Dual Row 10A 380V](https://www.amazon.com/dp/B08V4W637Q?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|7| [RPLIDAR A1](https://www.slamtec.com/en/Lidar/A1)|

|8| [GeeekPi Fan Hat with OLED for RPi 4/3/2/B/+](https://www.amazon.com/dp/B09MVL8BWQ?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|9| [GeeekPi M2.5 Standoffs](https://www.amazon.com/dp/B07PHBTTGV?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|10| [Dupont Wires](https://www.amazon.com/dp/B01EV70C78?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|11| Arduino Uno|

|12| Spare wires|

Some other tools or parts used in the project are as follows:

| | Tool/Part |

| --| --|

|1| [Soldering iron](https://www.amazon.com/gp/product/B00ANZRT4M/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1)|

|2| [SOMELINE Ferrule Crimping Tool Kit](https://www.amazon.com/dp/B09FSWKRH5?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|3| Screwdriver set|

|4| [Hot Glue Gun](https://www.amazon.com/dp/B00FI6QWBM?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|5| [Hot Glue](https://www.amazon.com/dp/B06X1CZWC5?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|6| [iCrimp IWS-3220M Micro Connector Pin Crimping Tool](https://www.amazon.com/dp/B078WPT5M1?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|7| [Connector Crimp Pin Cable Kit JST SYP Futaba](https://www.amazon.com/dp/B09MYWTHDZ?psc=1&ref=ppx_yo2ov_dt_b_product_details)|

|8| Zip ties |

## Acknowledgments

- [Allison Thackston](https://github.com/athackst/vscode_ros2_workspace)

- [Articulated Robotics](https://articulatedrobotics.xyz/)

- [Lidarbot](https://github.com/TheNoobInventor/lidarbot)

- [linorobot2](https://github.com/linorobot/linorobot2)

- [linrobot2_hardware](https://github.com/linorobot/linorobot2_hardware)

- [ros2_rover](https://github.com/mgonzs13/ros2_rover/)

- Cricket