bestander / mars-rover

Profanity Mars Rover

This is an R&D project of 3d printed rover powered by Raspberry Pi and controlled by either a camera over internet or a gamepad. Video can be streamed via browser, analyzed on Raspberry Pi or remotely in the cloud.

Body 3D prints

Project is based on https://www.thingiverse.com/thing:1318414 (costs 10$ to obtain the STL files), the schematics and parts lists are incomplete, so it required some research to get all the parts together, I was able to obrain everything through Amazon and will list all the parts here later.

Wire up

2BD: I'll post pictures here

Code

Rover controls are written in Python 3, main components:

• USB reciever for gamepad controls (evdev package)
• Pi Camera (RTCBot package)
• Web server (aiohttp package) + React/WebRTC based client
• Motors controls (RPi.GPIO package)

Quick Robot setup

• Install Raspbian
• Enable I2C and SSH
• sudo apt-get install python3-numpy python3-cffi python3-aiohttp
  libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev
  libswscale-dev libswresample-dev libavfilter-dev libopus-dev
  libvpx-dev pkg-config libsrtp2-dev python3-opencv pulseaudio python3-rpi.gpio mpg123
• Install sound card https://wiki.seeedstudio.com/ReSpeaker_2_Mics_Pi_HAT/
• pip3 install -r robot-requirements.txt
• python3 robot.py
• Installing missing native .so files https://blog.piwheels.org/how-to-work-out-the-missing-dependencies-for-a-python-package/ (for cv2)

Quick webserver setup

• pip3 install -r webserver-requirements.txt
• python3 web-server.py

Autostart

 [Unit]
 Description=Mars Rover Service
 After=multi-user.target

 [Service]
 Type=idle
 WorkingDirectory=/home/pi/mars-rover
 ExecStartPre=pulseaudio -D
 ExecStart=/usr/bin/python3 ./robot.py
 User=pi
 Restart=always

 [Install]
 WantedBy=multi-user.target

To test: sudo systemctl start mars-rover