https://github.com/nsaitarun-git/vectorbot_microros_v3
Vector 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.
https://github.com/nsaitarun-git/vectorbot_microros_v3
differential-d esp32 microros platformio ros2-humble
Last synced: 2 months ago
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Vector 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.
- Host: GitHub
- URL: https://github.com/nsaitarun-git/vectorbot_microros_v3
- Owner: nsaitarun-git
- License: mit
- Created: 2025-01-20T22:56:32.000Z (4 months ago)
- Default Branch: main
- Last Pushed: 2025-01-23T22:13:26.000Z (4 months ago)
- Last Synced: 2025-03-16T09:14:51.189Z (2 months ago)
- Topics: differential-d, esp32, microros, platformio, ros2-humble
- Language: C++
- Homepage:
- Size: 39.1 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Vector Bot Lite MicroROS
**Vector Bot Lite** is a robotics project designed to integrate a low-cost differential drive robot with the MicroROS framework. This repository showcases the power of MicroROS for real-time communication and control in robotic systems.
---
## About the Project
Vector 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.
---
## Features
- **MicroROS Integration**: Seamless communication between a custom-built differential drive robot and ROS 2 systems.
- **Real-time Control**: Execute precise movements and commands with minimal latency.
- **Scalable Architecture**: Supports easy upgrades and feature extensions.
- **Cross-platform Compatibility**: Compatible with Linux, Windows, and macOS.
---
## Requirements
- **[MicroROS Agent](https://micro.ros.org/docs/tutorials/core/first_application_linux/)**: Follow the steps on the page to create a MicroROS agent.
- **ROS 2 Humble**: The latest version of the Robot Operating System.
- **[PlatformIO](https://platformio.org/)**: Available as a VSCode extension.
- **ESP32 WROOM-DA Microcontroller**: Check [this page](https://micro.ros.org/docs/overview/hardware/) for hardware compatibility.
## Hardware Requirements
- ESP32 WROOM-DA Module with expansion board
- TT Gearbox Motors with encoder disks x2
- Wheels with rubber tires x2
- L298N Motor Driver
- 7.4V Lipo battery
- Optical encoders x2
- LM2596 DC-DC Buck converter
- SSD1306 OLED I2C 128x64 Display
---
## Getting Started
### Prerequisites and Installation
Clone the repository and open the project on PlatformIO.
```bash
# Clone the repository
git clone [email protected]:nsaitarun-git/VectorBot_MicroROS_v3.git
```
### Update WiFi Credentials
Within the ```/lib/ros_publisher_subscriber/ros_publisher_subscriber.cpp``` file, edit the following lines with your WiFi credentials and PC IP address.
```c++
// WiFi credentials
IPAddress agent_ip(192, 168, 0, 0);
char ssid[] = "yourssid";
char psk[] = "yourpassword";
```
### Start the MicroROS Agent via WiFi
Navigate to the MicroROS agent workspace directory and enter the following commands.
```bash
# Source the workspace
source install/setup.bash
# Start the agent
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
```
### Start Controlling the Robot
The ```teleop_twist_keyboard``` package can be used to drive the robot. It can be installed with the following commands.
```bash
# Install teleop_twist_keyboard package
sudo apt-get update
sudo apt-get install ros-humble-teleop-twist-keyboard
```
Once the package has been installed, you can run the node using the following command.
```bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard
```
You 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.
Use the following command to view the data being published to the topic.
```bash
ros2 topic echo /encoder_counts
```
# License
This project is licensed under the MIT License. See the [LICENSE](https://github.com/nsaitarun-git/VectorBot_MicroROS_v3/blob/main/LICENSE) file for details.