ROS Index
|
roomblock repositoryroomblock roomblock_bringup roomblock_description roomblock_mapping roomblock_navigation |
|
|
Repository Summary
| Checkout URI | https://github.com/tork-a/roomblock.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2018-05-10 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| roomblock | 0.0.2 |
| roomblock_bringup | 0.0.2 |
| roomblock_description | 0.0.2 |
| roomblock_mapping | 0.0.2 |
| roomblock_navigation | 0.0.2 |
README
Roomblock
Roomblock is a robot platform consists of a Roomba, a Raspberry Pi 2 or 3, a RPLIDAR A2 and a mobile battery. It is good for the learning of the ROS navigation system.
Hardware
Roomba
We use Roomba 535 and 780. Roomba 500, 600, 700 and 800 series is available to build the system. Caution, Roomba 900 series are not available because they have no serial port.
Raspberry Pi
You can use Raspberry Pi 2 Model B or Raspberry Pi 3. Pi3 has internal WiFi module while Pi2 does not. The software installation is slightly different, see Software section.
WiFi dongle
You can use internal WiFi module with Pi3. You may need WiFi module for Pi2. We use this WiFi dongle.
This is small and no problem on Raspbian kernel. However, on new Ubuntu kernel, it may cause a problem of frequent disconnection. To avoid this, you need to install the fixed driver. See:
- https://adamscheller.com/systems-administration/rtl8192cu-fix-wifi/
- http://l-w-i.net/t/ubuntu/wifi_001.txt
USB serial cable
You need a USB-serial converter to make the Roomba and Raspberry Pi communicate. We notice this product is very handy to make the cable. Just cut the cable and solder to mini-DIN 9 pin connector.
Frame
3D printable data (STL) are available in Thingiverse.
Software
Ubuntu for Raspberry Pi 2
Download the Ubuntu image file for Raspberry Pi2 from https://wiki.ubuntu.com/ARM/RaspberryPi#Raspberry_Pi and dump to a micro SD card.
$ unxz ubuntu-16.04.3-preinstalled-server-armhf+raspi2.img.xz
$ dd bs=4M if=ubuntu-16.04.3-preinstalled-server-armhf+raspi2.img of=<dev file of your SD card>
Or you can use Etcher insted of dd, which has
fancy GUI and easy to use.
Ubuntu for Raspberry Pi 3
Same as Pi 2. Download the Ubuntu image file for Raspberry Pi 3 from https://wiki.ubuntu.com/ARM/RaspberryPi#Raspberry_Pi and dump to a micro SD card.
$ unxz ubuntu-16.04-preinstalled-server-armhf+raspi3.img.xz
$ dd bs=4M if=ubuntu-16.04-preinstalled-server-armhf+raspi3.img of=<dev file of your SD card>
The Ubuntu image for Pi3 is not official one, but it works anyway.
You need to edit config.txt as mentioned in the section “Booting the official Pi 2 image on the Pi 3”, or it doen’t boot up after apt upgrade.
You may see internal WiFi (wlan0) is recognized by ifconfig as:
$ ifconfig -a
Important note
Repeat, you need to edit config.txt as mentioned in the section “Booting the official Pi 2 image on the Pi 3”, or it doen’t boot up after apt upgrade.
You should remove cloud-init package, because it may disable the network connection.
In addition, we strongly recommend to make the firmware packages not being upgraded. If you upgrade the firmware, it can disable the internal WiFi module.
File truncated at 100 lines see the full file
CONTRIBUTING
|
|
roomblock repositoryroomblock roomblock_bringup roomblock_description roomblock_mapping roomblock_navigation |
|
|
Repository Summary
| Checkout URI | https://github.com/tork-a/roomblock.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2018-05-10 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| roomblock | 0.0.2 |
| roomblock_bringup | 0.0.2 |
| roomblock_description | 0.0.2 |
| roomblock_mapping | 0.0.2 |
| roomblock_navigation | 0.0.2 |
README
Roomblock
Roomblock is a robot platform consists of a Roomba, a Raspberry Pi 2 or 3, a RPLIDAR A2 and a mobile battery. It is good for the learning of the ROS navigation system.
Hardware
Roomba
We use Roomba 535 and 780. Roomba 500, 600, 700 and 800 series is available to build the system. Caution, Roomba 900 series are not available because they have no serial port.
Raspberry Pi
You can use Raspberry Pi 2 Model B or Raspberry Pi 3. Pi3 has internal WiFi module while Pi2 does not. The software installation is slightly different, see Software section.
WiFi dongle
You can use internal WiFi module with Pi3. You may need WiFi module for Pi2. We use this WiFi dongle.
This is small and no problem on Raspbian kernel. However, on new Ubuntu kernel, it may cause a problem of frequent disconnection. To avoid this, you need to install the fixed driver. See:
- https://adamscheller.com/systems-administration/rtl8192cu-fix-wifi/
- http://l-w-i.net/t/ubuntu/wifi_001.txt
USB serial cable
You need a USB-serial converter to make the Roomba and Raspberry Pi communicate. We notice this product is very handy to make the cable. Just cut the cable and solder to mini-DIN 9 pin connector.
Frame
3D printable data (STL) are available in Thingiverse.
Software
Ubuntu for Raspberry Pi 2
Download the Ubuntu image file for Raspberry Pi2 from https://wiki.ubuntu.com/ARM/RaspberryPi#Raspberry_Pi and dump to a micro SD card.
$ unxz ubuntu-16.04.3-preinstalled-server-armhf+raspi2.img.xz
$ dd bs=4M if=ubuntu-16.04.3-preinstalled-server-armhf+raspi2.img of=<dev file of your SD card>
Or you can use Etcher insted of dd, which has
fancy GUI and easy to use.
Ubuntu for Raspberry Pi 3
Same as Pi 2. Download the Ubuntu image file for Raspberry Pi 3 from https://wiki.ubuntu.com/ARM/RaspberryPi#Raspberry_Pi and dump to a micro SD card.
$ unxz ubuntu-16.04-preinstalled-server-armhf+raspi3.img.xz
$ dd bs=4M if=ubuntu-16.04-preinstalled-server-armhf+raspi3.img of=<dev file of your SD card>
The Ubuntu image for Pi3 is not official one, but it works anyway.
You need to edit config.txt as mentioned in the section “Booting the official Pi 2 image on the Pi 3”, or it doen’t boot up after apt upgrade.
You may see internal WiFi (wlan0) is recognized by ifconfig as:
$ ifconfig -a
Important note
Repeat, you need to edit config.txt as mentioned in the section “Booting the official Pi 2 image on the Pi 3”, or it doen’t boot up after apt upgrade.
You should remove cloud-init package, because it may disable the network connection.
In addition, we strongly recommend to make the firmware packages not being upgraded. If you upgrade the firmware, it can disable the internal WiFi module.
File truncated at 100 lines see the full file