> This is partly implemented (see diffbot_base/scripts/base_controller)Īlso replace Wire.h with the improved i2c_t3 library. Test a low level PID on the Teensy 3.2 mcu using the Arduino library of the Grove i2c motor driver. The current implementation of the ROS Control hardware_interface::RobotHW uses a high level PID controller.Make use of the imu odometry data to improve the encoder odometry using a Kalman filter, such as robot_localization (or the less active robot_pose_ekf).Add diffbot_driver package for ultrasonic ranger, imu and motor driver node code.Use the "2D Nav Goal" tool in RViz (red arrow) to send goals to the robotĬontributions to these tasks are welcome, see also the contribution section below.Localize the robot with the "2D Pose Estimate" tool (green arrow) in RViz. Roslaunch diffbot_navigation diffbot_hw.lauchĪmong other essential navigation and map server nodes, this will also launch an instance of RViz on your work pc where you can use its tools to: Other ROS catkin packages such as rplidar_ros need to be cloned into the catkin workspace.įor an automated and simplified dependency installation process install the vcstool, which is used in the next steps. The required Ubuntu packages are listed in software package sections found in the documentation. The communication between the mobile robot and the work pc is done by configuring the ROS Network, see also the documentation. The packages are written for and tested with ROS 1 Noetic on Ubuntu 20.04 Focal Fossa.įor the real robot Ubuntu Mate 20.04 for arm64 is installed on the Raspberry Pi 4 B with 4GB.
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