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https://github.com/xtalism/ros-mobile-robot
Mobile Robot using ROS and ESP32 (rosserial)
https://github.com/xtalism/ros-mobile-robot
linux-ubuntu platformio robotic-operating-syustem robotics robotics-programming ros ros-noetic
Last synced: about 1 month ago
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Mobile Robot using ROS and ESP32 (rosserial)
- Host: GitHub
- URL: https://github.com/xtalism/ros-mobile-robot
- Owner: Xtalism
- License: mit
- Created: 2024-10-06T01:50:16.000Z (3 months ago)
- Default Branch: master
- Last Pushed: 2024-10-21T05:53:38.000Z (3 months ago)
- Last Synced: 2024-10-22T18:44:07.782Z (3 months ago)
- Topics: linux-ubuntu, platformio, robotic-operating-syustem, robotics, robotics-programming, ros, ros-noetic
- Language: C++
- Homepage:
- Size: 2.39 MB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# ROS-Mobile-Robot
Mobile Robot using ROS and ESP32 (rosserial).
## Table of Contents
- [ROS-Mobile-Robot](#ros-mobile-robot)
- [Table of Contents](#table-of-contents)
- [Hardware Requirements](#hardware-requirements)
- [Software Requirements](#software-requirements)
- [Installation](#installation)
- [Controller Setup](#controller-setup)
- [Initialize services.](#initialize-services)
- [License](#license)
## Hardware Requirements
- ESP32.
- Motors.
- L298N.
- Xbox Controller.
- 18650 batteries.
## Software Requirements
In order for the project to work we need to have installed [Ubuntu 20.04 LTS Focal Fossa](https://releases.ubuntu.com/focal/) alocated
in a partition with a Windows dual boot or as the main Operating System of your machine.
You can try to virtualize it but in my experience, networking and driver problems arouse.
## Installation
We need to install [ROS Noetic Ninjemys](https://wiki.ros.org/noetic), you can follow the [documentation](https://wiki.ros.org/noetic/Installation/Ubuntu) on how to install it or you can follow and run these few commands inside Ubuntu's terminal:
```shell
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
```
```shell
sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
```
```shell
sudo apt update
sudo apt install ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
```
## Controller Setup
You can use any controller listed in the [documentation](http://wiki.ros.org/joy). I'm personally
using an 8bitdo Ultimate C 2.4GHz. It is not a Xbox Controller per se but I managed to find some drivers to
trick Linux into thinking it is a generic Xbox Controller ([you can find the post here](https://gist.github.com/ammuench/0dcf14faf4e3b000020992612a2711e2)):
```shell
touch /etc/udev/rules.d/99-8bitdo-xinput.rules
sudo nano /etc/udev/rules.d/99-8bitdo-xinput.rules
```
Inside 99-8bitdo-xinput.rules you type the following and save:
```shell
ACTION=="add", ATTRS{idVendor}=="2dc8", ATTRS{idProduct}=="3106", RUN+="/sbin/modprobe xpad", RUN+="/bin/sh -c 'echo 2dc8 3106 > /sys/bus/usb/drivers/xpad/new_id'"
```
Reload udevadm service
```shell
sudo udevadm control --reload
```
You also need to make your [joystick device accesible](http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick):
```shell
ls -l /dev/input/jsX
```
You will see something similar to:
```shell
crw-rw-XX- 1 root dialout 188, 0 2009-08-14 12:04 /dev/input/jsX
```
We need to change XX to rw:
```shell
sudo chmod a+rw /dev/input/jsX
```
## Initialize services.
We initialize our master:
```shell
roscore
```
To initialize our serial node using tcp protocol:
```shell
rosrun rosserial_python serial_node.py tcp
```
To initialize our joy node using joy package:
```shell
rosrun joy joy_node _dev:="/dev/input/jsx"
```
If we want to see our joy node response:
```shell
rostopic echo joy
```
## License
[MIT License](https://opensource.org/osd)