Lemon minibot
Hardware
Raspberry Pi3 (I use the motherboard of lenovo ideapad 100)
YDLidar X4
Arduino mega2560 & motor controller
Motor with A/B encode
14.8v li-po battery
Laser cut frame
Software
How to install ROS
Read my medium
https://medium.com/@tony92151/%E5%B0%88%E9%A1%8C%E7%AD%86%E8%A8%98-ros-1-c87bd92b16bc
How to use
Clone repositories
1.Clone this repository
cd catkin_ws/src
2.Clone repository for YDLidar X4
git clone https://github.com/EAIBOT/ydlidar
3.Clone repository for rf2o
4.Clone repository for smach
git clone https://github.com/ros-visualization/executive_smach_visualization.git
5.instsll dependent
sudo apt-get install remmina synaptic gimp git ros-kinetic-navigation ros-kinetic-amcl ros-kinetic-slam-gmapping ros-kinetic-mrpt-slam ros-kinetic-mrpt-icp-slam-2d ros-kinetic-robot-localization ros-kinetic-ar-track-alvar -y
6.Compile all
cd ..
catkin_make
Starup setting
cd catkin_ws/src/Lemon_minibot/starup/
sudo chmod +x initenv.sh
then enter your password
./initenv.sh
YDLidar X4 starup setting
roscd ydlidar/starup/
sudo chmod 777 ./*
sudo sh initenv.sh
Add ar-tag models
cd
git clone https://github.com/mikaelarguedas/gazebo_models.git
cd ar_tags/scripts/
./generate_markers_model.py -i ~/Documents/gazebo_models/ar_tags/images -g ~/.gazebo/models -s 80
Simulation test
roslaunch turtlebot3_copy turtlebot_world2.launch
If it is first time open gazebo, it will take about 10 min to download models or you can download manual
See detial here
https://medium.com/@tony92151/%E5%AF%A6%E6%88%B0-ros-gazebo-1-bdb941f184e1
joystick test (RONEVER SR-012)
roslaunch joy joy2t.launch
rostopic echo /car/cmd_vel
Run gmapping
roslaunch turtlebot3_copy turtlebot_world2.launch
then gazebo with minibot & home will star
roslaunch lemon_minibot_detect ar_tag_sim.launch
to save the addres from ar-tag, run tf listener
rosrun lemon_minibot_core ar_local.py
roslaunch minibot_simulation simulation_gmapping.launch
to control your robot in gazebo, run keyboard_teleop.py to publish message to control node (/car/cmd_vel)
rosrun lemon_minibot_control keyboard_teleop.py
When mapping complete, save the map
rosrun map_server map_saver -f ~/homemap
run navigation
roslaunch minibot_simulation simulation_navigation.launch map_file:=$HOME/homemap.yaml
nav goal sender
roslaunch lemon_minibot_control movebase_seq.launch
Smach viewer
rosrun smach_viewer smach_viewer.py
set up amazom alexa skill
Use amazon alexa
rosrun lemon_minibot_core smach3.py
roscd lemon_minibot_control/scripts/alexa/
./ngrok http 5000
and ngrok will give you the address then pastes it to "Alexa skill kit" end point
install necessary pkg
sudo apt-get install ngrok-client
sudo pip install request flask flask-ask requests unidecode
run web server to connect to amazon alexa skill
rosrun lemon_minibot_control alexa_skill.py
roscd lemon_minibot_control/scripts/alexa/
./ngrok http 5000
Demo setup
roscore
roslaunch turtlebot3_copy turtlebot_world2.launch
rosparam load ~/catkin_ws/src/Lemon_minibot/lemon_minibot_core/param/location.yaml
rosparam load ~/catkin_ws/src/Lemon_minibot/lemon_minibot_core/param/smach.yaml
rosrun lemon_minibot_core smach3.py
roscd lemon_minibot_control/scripts/alexa/
./ngrok http 5000
rosrun lemon_minibot_core core_controller.py
Demo video
Reference
[1]turtlebot3 https://github.com/ROBOTIS-GIT/turtlebot3
[2]gazebo_models https://github.com/mikaelarguedas/gazebo_models
[3]roslaunch API Usage http://wiki.ros.org/roslaunch/API%20Usage
[4]Module rosparam in python http://docs.ros.org/diamondback/api/rosparam/html/
[5]smach Tutorials http://wiki.ros.org/smach/Tutorials/Getting%20Started