https://github.com/cyberdns/bungy_robot

https://github.com/cyberdns/bungy_robot

Last synced: about 6 hours ago
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• Host: GitHub
• URL: https://github.com/cyberdns/bungy_robot
• Owner: CyberDNS
• Created: 2023-08-25T13:25:16.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2024-03-13T18:06:48.000Z (8 months ago)
• Last Synced: 2024-04-20T17:04:15.678Z (7 months ago)
• Language: Python
• Size: 2.55 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Bungy Robot

The bungy_robot repository hosts a ROS2-based differential drive robot project designed for modularity and ease of use. Utilizing 3D-printed parts and powered by an array of sensors including an Adafruit BNO055 IMU, this robot can be remotely controlled through an Xbox controller.

The 3D printed part offer a lot of modularity with different platforms and a standardized grid to mount your electronics.

I used Dynamixel AX-12A servos as motors, the caster wheel is from a Roomba robot.

As the project is in a very early stage of development, not all the elements are already published. The 3D-printed parts will be published on [printables.com](https://www.printables.com) in the futur. Feel free to contact me if you have questions or you want to try bungy out in this early stage of development.



## Installation Instructions

Follow these steps to set up the robot workspace. The script will install ros_team_workspace and then setup a workspace for you:

```bash

wget https://raw.githubusercontent.com/CyberDNS/bungy_robot/main/install.sh

chmod +x install.sh

./install.sh

```

## Running Bungy

```bash

ros2 launch bungy_robot_description robot.launch.py

```

### Control by keyboard:

```bash

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

```

### Control by joystick or controller:

```bash

ros2 launch bungy_robot_description joystick.launch.py

```