bobo_bot2

Project focuses on communication between multiple robots.

Clone Najaaaa

git clone https://github.com/Nongtuy/bobo_bot2.git

source workspace

cd bobo_bot2

source devel/setup.bash

Systems

The robot's main systems are:

1. Differential drive(Track Based)
2. Lidar

Packages

1. Obstacle_Avoidance-ROS

2. Communication_test

2.1 Speaker.py This will be used to test communication for multimachine operation

rosrun Communication_test Speaker.py

3. movement_used

Folder [sketch_apr26a] is cpp arduino based, for low-level control. Both Turtlebot3_teleop and teleop_twist_keyboard can be used but depend on hardwares behavior. high_level_type_3_2.py is the main high-level code. In order to use this code Lidar sensor must be activated.

command to be used

rosrun movement_used high_level_type_3_2.py

4. robot_1

Robot_1 is simulation based on rviz and gazebo to test deff-drive

Note: Flip robot back before using

roslauch robot_1 gazebo.launch

5. rospy(Repair Package during development)

6. sensor_node

Sensor_node is subscriber for sensor infors

7. sshping(Naaaaaaaaaa)

8. teleop_twist_keyboard

Use for manual control

rosrun teleop_twist_keyboard

How To Use??????????

This package is made for Rpi 4 B connected to arduino to control the robot. You need to upload sketch_apr26a to your arduino board. Topics can be added for more complex robot.

Login SSH to Rpi board then.

rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=115200

To change node name you can use

rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=115200 _name:=Your_desire_name