ibnHatab / jupie_rc

Mini jupyter RC car

Mini Jupiter RC-Car

HW Platform

Paspberry Pi 4b

Grove IMU 9DOF

IMU	RPi4	Col
GND	06 GND	Black
VCC	02 5V	Red
SDA	03 SDA1	White
SCL	05 SDL1	Yelow
INT	08 GPIO14	Blue

Actuators

Orientation

• ros-driver_mpu9250
• ros-calibration_imu
• imu_filter_madgwick

Calibration

Magnetometer, Timisoara

rosrun calibration_imu magnetometer

• total field strength, in nT: 48735.3 nT

  calibration units: tesla (T)
  
   1.0704277446 -0.0554687100 -0.0751259770 -0.0001229154
  -0.0554687100  0.9700723220  0.0656101161 -0.0002405948
  -0.0751259770  0.0656101161  0.8717398362 -0.0001045596
   0.0000000000  0.0000000000  0.0000000000  1.0000000000
  
      

Accelerometer

calibration units: m/s^2

 1.000546  0.000000  0.000000 -0.249843
 0.000000  0.997507  0.000000 -0.155362
 0.000000  0.000000  0.982808  0.067903
 0.000000  0.000000  0.000000  1.000000

Dynamic frame

Launch

Host

roslaunch imu_filter_madgwick imu_filter_madgwick.launch

jupie_rc ROS master

export ROS_MASTER_URI=http://user:11311/
roslaunch jupie jupie_rc.launch publish_raw:=false

Arduino ECU

Development Board Arduino Nano Compatible (ATmega328p + CH340) hadles motor and direction servo PWM and rotary encoder. It use old bootloader compatible with arduino:avr:pro BSP.

Interface

• add rosserial module

git clone https://github.com/ros-drivers/rosserial.git

• generate library bindings and messages

  rosrun rosserial_arduino make_libraries.py ~/Arduino/libraries/
      

• compile and upload sketch file with arduino/Makefile

arduino-cli sketch new hello_node
make SRC=hello_node/ build

Stop serial node and upload firmware

make SRC=hello_node/ upload

Start serial node and test

rostopic echo /chatter

NANO v3 AtMega 328p development board, compatible with Arduino

GY-302 Ligth sensor

LS	AR	Col
VCC	+5v	Red
GND	GND	Brown
SCL	A4	Orange
SDA	A5	Yellow
ADDR	NUL	Green

IR sensor

LS	AR	Col
VCC	+5v	Grey
GND	GND	Mow
S	A5	Blue

Servo

Srv	AR	Col
GND	GND	Black
PWM	D9	Orange
PWM	D6	Yellow

Battery

• LiPo 2S 7.4v 37Wh

Effective idle power 8v*385mA (3W)

• Rpi4 5v*1010mA (5.1W)
• Arduino 5v*33mA (1.65W)

Max at 6.7W approx 5h

• Motor and servo ??

REFERENCES

• [1] Development of a mechatronical platform for AUTOSAR The ball-balancing robot Master of Science Thesis, ANDRÉ ALSTRIN, EMIL SUNDELL

https://publications.lib.chalmers.se/records/fulltext/225052/225052.pdf

FIXES [0/4]

• [ ] recalibrate gravitometer
• [ ] move filter to RC
• [ ] Launches main modules for work in autonomous mode
• [ ] the base controller, uses dwa_local_planner (by default included in launch)
• [ ] sphinx documentation reindexing ref. [1]