https://github.com/betabison/umnitsa_robot
umnitsa code installed on robot
https://github.com/betabison/umnitsa_robot
Last synced: about 1 year ago
JSON representation
umnitsa code installed on robot
- Host: GitHub
- URL: https://github.com/betabison/umnitsa_robot
- Owner: betaBison
- License: mit
- Created: 2019-03-12T03:08:35.000Z (about 7 years ago)
- Default Branch: master
- Last Pushed: 2020-02-11T04:52:10.000Z (over 6 years ago)
- Last Synced: 2025-01-16T14:45:36.063Z (over 1 year ago)
- Language: C++
- Homepage:
- Size: 1.07 MB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# umnitsa_robot
Umnitsa comes from the englsih transliteration of the russian word "умница" clever pesron or smarty-pants.
Umnitsa is designed to be a clever robot.
See also [umnitsa_msgs](https://github.com/betaBison/umnitsa_msgs), [umnitsa_gs](https://github.com/betaBison/umnitsa_gs), amd [umnitsa_mechanical](https://github.com/betaBison/umnitsa_mechanical).
umnitsa_robot is a [metapackage](http://wiki.ros.org/catkin/package.xml#Metapackages) for all the packages that run on the robot's computer. Packages are located in the `src/` directory and a brief description of each is included below.
## Setup
This package is currently compatible with the Raspberry Pi 3 B+ and Jetson Nano.
### Raspberry Pi
Install needed dependencies:
`pip install`
### Jetson Nano
Install needed dependencies:
`pip2 install Jetson.GPIO pygame nanpy`
Since this repo contains the realsesnse-ros repository as a submodule it's important to run the following command
`git clone --recursive `
If you failed to do this initially, then inside this repository run
`git submodule update --init --recursive`
The realsense-ros also requires the latest [Intel RealSense SDK](https://github.com/IntelRealSense/librealsense/releases). Jetson Nano [installation instructions](https://github.com/JetsonHacksNano/installLibrealsense).
#### Arduino Firmware
Follow directions here to upload correct firmware to arduino (https://github.com/nanpy/nanpy-firmware)
#### Pygame errors:
If there are erros installing pygame, you may need to add its dependencies.
`sudo apt install libsdl1.2-dev python-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev libsmpeg-dev python-numpy subversion libportmidi-dev ffmpeg libswscale-dev libavformat-dev libavcodec-dev`
### Desktop
Since this repo contains the realsesnse-ros repository as a submodule it's important to run the following command
`git clone --recursive `
If you failed to do this initially, then inside this repository run
`git submodule update --init --recursive`
The realsense-ros also requires the latest [Intel RealSense SDK](https://github.com/IntelRealSense/librealsense/releases). Linux [installation instructions](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md). You must install the dev package
`sudo apt install librealsense2-dkms librealsense2-utils librealsense2-dev`
Install pygame for the joystick controller
`pip2 install pygame`
## Package Overview
### umnitsa_robot
Empty package that declares packages inside the [metapackage](http://wiki.ros.org/catkin/package.xml#Metapackages).
### umnitsa_robot_launch
This package contains parameters adn launch files for the umnitsa robot. Parameters should be adjusted for compatibility with system setup.
### umnitsa_hardware
This package consists of the harware interfacing nodes as follows:
#### motors
outputs to the motor control board to control four DC motors
Normal mode:
The max throttle going forward is 71% on all motors, not 100%. This is so that moving the joystick in a steady
circle produces a steady cirlce of robot movement.
Turbo mode:
If the joystick is moved at all, one of the motors is set to 100% throttle. This makes it faster, but unfit for precise movement.
#### RGB
Outputs to the UmnitsaRGB custom PCB
#### ultrasonic
Inputs from the UmnitsaUltra custom PCB
### umnitsa_joystick
Package that contains the node that that receives input from a switch pro controller and outputs to the joystick message.