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Automation attempt of a 1:10 rc car using ROS Kinetic, Raspberry Pi 3, Arduino Uno and Python.

Arduino 20.59% Python 79.41%

rc_car's Introduction

Automation attempt of a 1:10 rc car using ROS Kinetic, Raspberry Pi 3, Arduino Uno and Python.

Hardware

Arduino Uno
RaspberryPi 3
Ubuntu 16.04 LTS Laptop
- Saitek P2500 (old joypad)

RaspberryPi 3 (RPI) Setup

Install ubuntu mate for RPI. ROS does not support Raspbian Stretch. Therefore, it is easier to use ubuntu mate for the RPI. https://www.intorobotics.com/how-to-install-ros-kinetic-on-raspberry-pi-3-ubuntu-mate/ Follow the ROS kinetic installation, too.

rosserial-arduino

Install ros-kinetic-rosserial-arduino and the Arduino IDE http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup

raspicam_node

Install raspicam_node from source. A few additional changes need to be made, which are not explained in the binary installation. Follow the build instructions carefully. https://github.com/UbiquityRobotics/raspicam_node Remember to enable the camera in your raspi-config.

sudo raspi-config
-> advanced-options -> enable camera -> reboot

It is also beneficial to install from source, because you can modify your launch files. Chose your camera model version, reduce resolution and framerate.

ROS

ros multiple machines

http://wiki.ros.org/ROS/Tutorials/MultipleMachines http://wiki.ros.org/ROS/NetworkSetup Don't forget to export the ROS_MASTER_URI in each shell. Check the connection to each device with the terminal command ping ssh-name.