gabrik / OpenCR

Software for ROS Embedded board (a.k.a. OpenCR). OpenCR means Open-source Control Module for ROS.

OpenCR: Open Source Control Module for ROS

ROBOTIS e-Manual for OpenCR

• ROBOTIS e-Manual for OpenCR

Open Source related to OpenCR

• Micro ROS Arduino
• OpenCR
• OpenCR-Hardware
• OpenCM 9.04
• dynamixel_sdk
• turtlebot3
• open_manipulator
• robotis_op3

Documents and Videos related to OpenCR

• ROBOTIS e-Manual for OpenCR
• ROBOTIS e-Manual for OpenCM 9.04
• ROBOTIS e-Manual for OpenCM 485 Expansion Board
• ROBOTIS e-Manual for Dynamixel SDK
• ROBOTIS e-Manual for TurtleBot3
• ROBOTIS e-Manual for OpenManipulator
• ROBOTIS e-Manual for ROBOTIS OP3
• Videos for OpenCR

Repository folder structure description

• arduino
  • opencr_arduino
    • libraries : A collection of some libraries that can be used with OpenCR.
    • opencr : OpenCR package core to be installed in Arduino.
    • tools : Tools for OpenCR firmware writing.
  • opencr_develop
    • opencr_bootloader : OpenCR bootloader source
    • opencr_ld : OpenCR loader source (related bootloader)
    • opencr_ld_shell : OpenCR loader script source for TB3
  • opencr_release
    • Folders(version name) : Compressed files for updating TB3 core binary with ld_shell for each TB3 core version.
    • shell_update : Latest Compressed files for updating TB3 core binary with ld_shell.
    • package_opencr_index.json : json file for Arduino OpenCR package.

How to build for OpenCR

Install arduino-cli: https://arduino.github.io/arduino-cli/0.19/installation/

Add the OpenCR board manager

echo '''board_manager:
  additional_urls:
    - https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json''' > arduino-cli.yaml

Install the board:

arduino-cli core install OpenCR:OpenCR
arduino-cli core update-index
arduino-cli lib update-index

Build the sketch

arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR path_to_ino_file --output-dir ./

How to flash

Use the opencr_ld

Eg.

./opencr_ld /dev/cu.usbmodemFFFFFFFEFFFF1 115200 /path/to/file.bin 1

Topics used

Found in: arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core_config.h

Subscribers

Topic Name	Type
cmd_vel	Twist
sound	Sound
motor_power	Bool
reset	Empty

Publishers

Topic Name	Type
sensor_state	SensorState
firmware_version	VersionInfo
imu	Imu
cmd_vel_rc100	Twist
odom	Odometry
joint_states	JoinState
battery_state	BatteryState
magnetic_field	MagneticField