The goal of this project is to create an indoor robot that can autonomously map my apartment space. This project will build upon the Hercules and Odroid setup/install. I will add a Kinect and Xbox 360 controller to the platform which will allow for manual control. Then I will combine the Kinect and encoder data to create a map using Octomap. Lastly, I will use the camera information (and sonar?) with some sort of exploration algorithm to full map my apartment space.
- Hercules 4WD robot
- Kinect 360
- Xbox 360 wirless controller
- HDE Xbox 360 wireless receiver
- Sabrent 4-port USB hub
See Hercules and Odroid-install for basic setup.
- Install Joy
sudo apt-get install ros-kinetic-joy
- Blacklist the default xpad driver
sudo su
echo "blacklist xpad" > /etc/modprobe.d/blacklist.conf
- Unload xpad
sudo rmmod xpad
- Install xboxdrv
sudo apt-add-repository ppa:grumbel/ppa
sudo apt-get update
sudo apt-get install xboxdrv
- Start xboxdrv
sudo xboxdrv
- Plug in wireless receiver and pair with xbox controller
- Run code from
xbox_controller
to publish left/right joystick actions
This is to communicate with the Hercules motors.
sudo apt-get install ros-kinetic-rosserial-arduino
sudo apt-get install ros-kinetic-rosserial