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arduino_encoder_mobile_robot's Introduction

arduino_encoder_mobile_robot

Navigation robot using arduino encoder

It is powered by ROS running on a Raspberry Pi 4B(ubuntu18.04, ROS melodic) and an Arduino mega that controls two motors with encoders

Reference https://github.com/RBinsonB/Nox_robot
https://www.youtube.com/watch?v=q1u_cC-5Sac&list=PLpwJoq86vov9U87KZG_x6w739Mlp07-BG&index=2
https://www.youtube.com/watch?v=HLLmV9LQoac&list=PLpwJoq86vov9U87KZG_x6w739Mlp07-BG&index=3

Step1. Install ubuntu 18.04 on Raspberry Pi 4B
https://do-9un6.tistory.com/2

Step2. Install ROS melodic on Raspberry Pi 4B
https://do-9un6.tistory.com/4

Step3. Arduino

Motor Driver	Arduino	Motor	External power
AOUT	-	MotorA	-
BOUT	-	MotorB	-
PWMA	Pin6	-	-
AIN1	Pin9	-	-
AIN2	Pin8	-	-
PWMB	Pin7	-	-
BIN1	Pin11	-	-
BIN2	Pin12	-	-
5V	VIN	-	-
GND	GND	-	-
VSEL	-	-	VOUT
	GND	-	GND
	Pin2	encoderA1	-
	Pin3	encoderA2	-
	Pin18	encoderB1	-
	Pin19	encoderB2	-

$ sudo apt-get install ros-melodic-rosserial
$ sudo apt-get install ros-melodic-rosserial-arduino

You can download Aruduino IDE for linux from here -> https://www.arduino.cc/en/software

$ cd /Downloads/arduino-1.8.18
$ sudo ./install.sh
$ sudo apt install fonts-nanurm-coding
$ sudo apt-get update

$ cd libraries
$ rosrun rosserial_arduino make_libraries.py .

Add Arduino codes and libraries
(You can find files from my github)

Complie and upload [new_srduino_encoder05.ino] code to your Arduino mega

Step4. Running robot

$ cd catkin_ws
$ catkin_make

// remote robot
$ roscore
$ rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

// Slam & navigation
$ roslaunch nox nox_bringup.launch
$ roslaunch nox nox_slam.launch
fixed frame : map
click the 2D Nav Goal Button
Select a destination point

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