leonard-de-vinci / DaVinciBot-FrenchRoboticsCup

ROS + Arduino repository, French cup of robotics.

This repo has been archived

This repository has been archived and is no longer in use. The new repository for the French Robotics Cup can be found at the following address:

https://github.com/leonard-de-vinci/DaVinciBot-CDR

Presentation

Project for the french cup of robotic 2020.

Link to the website of the Competition

This ROS stack includes an Arduino library and a collection of ROS packages for controlling an Arduino-based robot using standard ROS messages and services.

Features of the stack include:

• Controller Speed and Position using ROS PID
• Control servo motor
• Direct support for Ping sonar
• GUI Interface for debugging the robot

TODO Season 2020 :

• Sensor TOF Implementation
• ROS implementation
• Better controller PID
• Arduino --> STM32
• News motors : Faulhaber 2232SR

Robot 2018 / 2019 :

CAD	Real Word Robot

(CAO by Johny Lin)

Hardware :

• Pololu VNH5019
• Faulhaber 2642 cxr motor
• Rotary encoder kubler
• Nucleo ESP32
• Teensy 3.5
• Raspberry Pi 4
• Sensor TOF (future implementation in this repository)

Architectural view

More details are in the ros packages.

Installation Guide (Work in progress)

First you need Ubuntu 16.04 (Ubuntu Mate 16.04 on the Raspberry Pi 3) with Ros Kinetic : ROS kinetic

    $ git clone https://github.com/leonard-de-vinci/DaVinciBot-FrenchRoboticsCup-2020.git
    $ cd DaVinciBot-FrenchRoboticsCup-2020/cdr_robot_ws/
    $ catkin_make

To launch the ros node pid quickly:

     $ cd DaVinciBot-FrenchRoboticsCup-2020/cdr_robot_ws/
     $ source devel/setup.bash
     $ roslaunch deplacement base.launch

To launch the unit test node :

Terminal 1 (The node):

     $ cd DaVinciBot-FrenchRoboticsCup-2020/
     $ source cdr_robot_ws/devel/setup.bash
     $ rosrun deplacement Control.py

Terminal 2 (GUI):

     $ rosrun rqt_reconfiure rqt_reconfigure

More about the project :

Video of the cup 2019

Association (Project team of this competition 12 Members)