terabot

A 4 wheel autonomous robot with visual navigation by Intel RealSense D435i.

hardware

• Intel RealSense Depth Camera D435i
• SunFounder Smart Video Car Kit V2.0/SunFounder PiCar V
• Raspberry Pi 3 model B+
• SONY DUALSHOCK 4 Wireless Controller for PS4

software environment

• Ubuntu 18.04 LTS
• ROS Melodic

reference

• robotic simulation

setup workspace

source /opt/ros/$ROS_DISTRO/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash

Create a workspace

get source code

cd ~/git
git clone https://github.com/shijq23/terabot.git
cd ~/catkin_ws/src
ln -s ~/git/terabot/tarabot_control
ln -s ~/git/terabot/terabot_description
ln -s ~/git/terabot/terabot_gazebo
cd ~/catkin_ws
catkin make
source devel/setup.bash

launch gazebo

roslaunch terabot_gazebo terabot_world.launch

move it by command

rostopic pub -1 /terabot/leftWheel_effort_controller/command std_msgs/Float64 "data: 11.5"
rostopic pub -1 /terabot/rightWheel_effort_controller/command std_msgs/Float64 "data: 11.0"

monitor joint states

rostopic echo /terabot/joint_states

move it by teleop

rosrun turtlebot3_teleop turtlebot3_teleop_key cmd_vel:=/terabot/cmd_vel
roslaunch terabot_gazebo teleop_key.launch

view camera image

rosrun image_view image_view image:=/terabot/camera1/image_raw

view tf frames

rosrun tf view_frames
rosrun tf view_monitor
roswtf

visualize the TF Tree

rosrun rqt_tf_tree rqt_tf_tree

node graph

rqt_graph

find a pi

sudo nmap -sP 192.168.2.1/24 | awk '/^Nmap/{ip=$NF}/B8:27:EB/{print ip}'

check parameters configuration

rosrun rqt_gui rqt_gui
rosrun rqt_reconfigure rqt_reconfigure

ros-i2cpwmboard error

sudo apt-get install python-smbus i2c-tools sudo apt-get install libi2c-dev

interactive marker

in rviz, add InteractiveMarkers, select Update topic: /twist_marker_server/update