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项目作者： aeksiri

项目描述 ：
ROS Kinetic Compatible ground mobile robots (2WD, 4WD, Ackermann Steering, Mecanum Drive)
高级语言： C++
项目地址: git://github.com/aeksiri/mobi_robot.git
创建时间： 2017-11-04T04:44:34Z
项目社区：https://github.com/aeksiri/mobi_robot
开源协议：BSD 2-Clause "Simplified" License
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mobi_robot

Modified from https://github.com/linorobot/linorobot.git

Mobi_robot is a suite of Open Source ROS compatible robots that aims to provide students, developers, and researchers a low-cost platform in creating new exciting applications on top of ROS.

Tutorial

You can read the full tutorial how to build your robot here.

Multiplatform

Supports multiple types of robot base:

  • 2WD
  • 4WD
  • Ackermann Steering
  • Mecanum drive

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Works on:

  • ROS Indigo (Ubuntu 14.04)
  • ROS Kinetic (Ubuntu 16.04)

Hardware

Fabricate your own Teensy 3.1/3.2 shield,

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or wire it on your own. Wiring diagrams are also provided.
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Supported IMUs:

  • GY-85
  • MPU6050 (to be released)

Supported Motor Drivers:

  • L298
  • BTS7960
    **This should easily work with other motor drivers as long as the pins are compatible.

Supported ROS Compatible Sensors:

  • XV11 Lidar
  • RPLidar
  • Intel RealSense R200
  • Kinect

Tested on Linux compatible ARM dev boards:

  • Raspberry Pi 3
  • Jetson TK1
  • Jetson TX1
  • Odroid XU4
  • Radxa Rock Pro
    **Technically this should also work with any ARM dev board at least (1GB RAM) that runs Ubuntu Trusty or Xenial.

Installation

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  1. git clone https://github.com/linorobot/lino_install && cd lino_install
  2. ./install <base> <sensor>

Firmware

Flexible and configurable components.
linorobot_ws/teensy/firmware/lib/config/mobi_base_config.h

Robot base configuration:

  1. //uncomment the base you're building
  2. #define LINO_BASE DIFF_2WD
  3. // #define LINO_BASE DIFF_4WD
  4. // #define LINO_BASE ACKERMANN
  5. // #define LINO_BASE HOLO_4W

IMU configuration:

  1. //uncomment the IMU you're using
  2. #define USE_GY85_IMU
  3. // #define USE_MP6050_IMU (not supported yet)

Motor driver configuration:

  1. //uncomment the motor driver you're using
  2. #define USE_L298_DRIVER
  3. // #define USE_BTS7960_DRIVER

Motor configuration:

  1. //define your robot' specs here
  2. #define MAX_RPM 330 // motor's maximum RPM
  3. #define COUNTS_PER_REV 1550 // wheel encoder's no of ticks per rev
  4. #define WHEEL_DIAMETER 0.10 // wheel's diameter in meters
  5. #define PWM_BITS 8 // PWM Resolution of the microcontroller
  6. #define BASE_WIDTH 0.235 // width of the plate you are using

Uploading the codes:

  1. cd ~/mobi_robot_ws/src/mobi_robot/teensy/firmware
  2. platformio run --target upload

Creating a Map

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Launch base driver:

  1. roslaunch mobi_robot bringup.launch

Launch mapping packages:

  1. roslaunch mobi_robot slam.launch

Autonomous Navigation

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Launch base driver:

  1. roslaunch mobi_robot bringup.launch

Launch navigation packages:

  1. roslaunch mobi_robot navigate.launch