aGakuTakasawa / bsl-plotter

All of my hobby pen-plotter (mechanical design, circuit diagram, controll software, etc...)

BSL-Plotter

Environment

• Ubuntu 20.04
• docker, docker compose

[NOTE] This repository DOES NOT support NVIDIA graphic driver.

Installation

Hardware

The BSL-Plotter parts are in the bsl-plotter/stl directory. Please refer to URDF model and above image for assembly. And, use 6mm BB-bullets-ball to assemble the thrust bearings. (3D model for assembly will be uploaded soon!)

It is recommended to use a 3D printer to create the parts. The recommended printing conditions are as follows.

• Nozzle: 0.4mm
• Filament: ABS, PLA, PETG
• Support: enable
• Wall: 0.6~1.0mm

BOM

Item	Model	Quat.	Link
Servo Motor	STS3215, Feetech	3 pcs.	akitsuki
Servo IF Board	FE-URT-1, Feetech	1 pc	akitsuki
Filament	PolyTerra PLA, Polymaker	1 roll	Amazon
Magnet	コクヨ マグネット 強力マグネットプレート 片面・粘着剤付き 6枚 耐荷重500g マク-S381	1 pack	Amazon
White board	トレー付大きなホワイトボード ４５×６０ｃｍ	1 pc	DAISO
Pen	ホワイトボードマーカー（消し付、細芯、黒・赤・青、３本）	1 pack	DAISO
BB-Ball (for thrust bearing unit)	BB弾	1 pack	DAISO
Wire	3 core cable	about 1 m
Bolt	M2 tapping		included STS3215
	M3-5mm		included STS3215
	M3-10mm	4 pcs.
	M3-15mm	2 pcs.
	M3-25mm	4 pcs.
	M3-30mm	2 pcs.
	M3-35mm	4 pcs.
	M3-40mm	4 pcs.
Nuts	M3 Hex	20 pcs.

Servo ID Setting

• Root Joint: 1
• Middle Joint: 2
• Hand Joint: 3

Cable Extension Extend the cable included with STS3215 to double the length. You can use a connector or solder it.

Software

1. Clone this repository

   git clone --recursive https://github.com/kim-xps12/bsl-plotter.git
   

2. Launch docker container

   cd bsl-plotter/docker_ros
   docker compose up -d
   

3. Execute a command in a running container

   docker compose exec mynoetic /bin/bash
   

4. Check GUI

   xeyes
   

5. Check OpenGL

   glxgears
   

6. Enjoy your robotics!

ROS

You need to operate inside a docker container (mynoetic). It is required to be able to use multiple terminals using tmux or terminator. I recommend reading "How to use Terminator" in the Reference section.

1. Go workspace

   cd catkin_ws
   

2. Build workspace and load settings

   catkin build
   source devel/setup.bash
   

3. Launch rviz

   roslaunch bsl_plotter_description display.launch
   

4. Add new pane, and Launch IK solver

   roslaunch plotter_controller test_swing.launch 
   

5. Add new pane, Run servo driver

   rosrun plotter_controller feetech_driver.py
   

Reference

How to use Terminator