bajwasarim / ros2-slambot-using-raspberrypi

Ros and OpenCV with Raspberry Pi

Repository for Upcoming Course

• robot_driving_src : Contain all source Codes to run on RPI
• slamBot : Package Develop for ROS2 Rpi

Running Code

• Interfacing Code for RPI

  • RpLidar ROS Package

  - sudo apt-get install ros-foxy-rplidar-ros
  

  • Install required PIGPIO Library

  pip install pigpio
  sudo apt-get install libpigpiod-if2-1
  

  • Build From Source ( a must )

  git clone https://github.com/joan2937/pigpio.git
  cd pigpio
  make
  sudo make install
  

  • Example of compiling a CPP file

  g++ -Wall -pthread -o test hello_blink.cpp -lpigpiod_if2
  

• ROS Package

  • Creating a Workspace

  mkdir -p ~/ros2_ws/src
  

  • Cloning Repository into ~/ros2_ws/src

  cd ~/ && git clone  https://github.com/noshluk2/ROS2-SlamBot-using-RaspberryPI
  

  • Sourcing Workspace ( Only ONCE )

  echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
  

Requirments

• Software and Dependencies

  • Ubuntu Server 20.04
  • Ros2 Foxy-base installation
  • Turtlesim Package

    sudo apt-get install ros-foxy-turtlesim
    

• Hardware

  • Raspberry pi 4
  • Power Bank
  • 16gb Sdcard
  • L298D motor Driver
  • 12V DC magnetic Encoder Motors
  • 12V lipo battery
  • Srews ,pcb offsets and male to female/Male jupmer wires

Using This repository

• Connect your RPI with Wifi -> Video link

Running a SSH control through terminal ( shell only )

• Open terminal on your laptop
  • IP of raspberry pi -> get from any wifi conencted device info app
  • passwork is 'ubuntu'

ssh ubuntu@pi_IP

• Lidar Scan generation -> fake transform

 ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 "world" "laser"

• Stopping Rplidar Scanning