SLAM and autonomous navigation with ROS + kinect + Arduino

This is the project for the autonomous navigation of the mobile robot which is built from scratch by myself with a huge support from Dr.Stephen Alty at Royal Holloway, University of London

Motivational Work

https://sungjik.wordpress.com/2015/09/28/my_personal_robotic_companion/

Hardware

• Raspberry Pi 3 Model B+
• Microsoft x box kinect sensor bar only
• xBox 360 Kinect sensor USB extension and power supply
• Freenove Super Starter Kit for Arduino
• 2X DC 6V 210RPM Encoder Motor Set DC Gear Motor with Mounting Bracket and Wheel
• 12V Battery Pack
• Motor Control Shield for Arduino
• DC DC Boost Converter Step-up
• H&S® 4 x Heavy Duty 50mm Rubber Swivel Castor Wheels Trolley Furniture Caster Brake
• 5 pcs. FLAT STEEL MENDING REPAIR CONNECTOR JOINING PLATE 200MM X 80MM
• Am-Tech Nuts and Bolts (240 Pieces)
• Duracell MN1500 Plus Power AA Size Batteries-Pack of 12
• Charcoal Companion CC6021, Cedar Grilling Plank, Wood, 14x30x3.81 cm, CC6021
• Poweradd Pilot X7 20,000mAh Portable Universal External Power Bank, Red-Black

Tools

• Rolson Tools 36039 Mini Tool Kit - 26 Pieces
• Soldering Iron Kit, 60W Adjustable Temperature Soldering-iron Gun Kit with 5 Soldering Tips, Desoldering Pump, Tin Wire Tube, Soldering Iron Stand, Tw
• Helix Oxford 12 inch 30cm Shatter Resistant Ruler
• CONNEX DP8500052 Wood Screw Kit (215 Pieces)
• Bahco 300-14-F15/16-Hp Toolbox Handsaw 14In
• Hot Glue Gun, TOPELEK Heats Up Quickly 20W Mini Heating Hot Melt Glue Gun with Sticks(50pcs 100mm), ON-Off Switch for DIY Arts, Hobby, Craft, Home Rep

Environment

• DELL Inspiron 15 7500
  • CPU: i7 7th Gen
  • GPU: GTX1060 Max Design
  • OS: Ubuntu 16.0.4 LTS
  • ROS: Kinetic
  • Python: 3.6.2
• Raspberry Pi
  • Model: 3 Model B+
  • OS: Light Ubuntu(I wanted to use Ubuntu)

How to use

# ===== Server =====
$ export ROS_IP=ip_address
$ export ROS_MASTER_URI=http://ip_address_of_master:1131
$ cd ~/sketchbook/rosserial_test
# using arduino-make, we deploy the code(.ino file) followed by launching the ros topic
$ sh deploy_run_ros.sh

# ===== Local Machine =====
$ export ROS_IP=ip_address
$ export ROS_MASTER_URI=http://ip_address_of_master:1131
# check if the topic has been successfully launched
$ rostopic list
# go forward
$ rostopic pub /remote_control std_msgs/String "data: 'FORWARD'"
# turn left
$ rostopic pub /remote_control std_msgs/String "data: 'LEFT'"
# turn right
$ rostopic pub /remote_control std_msgs/String "data: 'RIGHT'"
# stop moving
$ rostopic pub /remote_control std_msgs/String "data: 'STOP'"

Compile and Uploading files through CLI on Arduino

• I used Arduino-mk

# install arduino-mk
$ sudo apt-get install arduino-mk
$ make # verification of the code
$ make upload # upload the verified code
$ make upload clean # upload the verified code followed by removing the built directory
# for more details pls, check the git repo

ROS on distributed machines

• Set ROS_IP on each machine:

• Set an IP address/HOSTNAME of the master server as ROS_MASTER_URI on each machine

• Reference: http://wiki.ros.org/ROS/Tutorials/MultipleMachines

$ export ROS_IP=ip_address
# 11311 is the default port for rosmaster
$ export ROS_MASTER_URI=http://ip_address_of_master:1131 

# Test
# on master
$ roscore
$ rosrun rospy_tutorials listener.py

# on server
$ rosrun rospy_tutorials talker.py

DC Motor Specification

Specification Link

History

1. I have tried Cam Jam Edukit 3 Robotics

   

2. Try making it powerful by attaching metal plates

   

hmm... does not look pretty good and it was quite unstable... Eventually it got broken.lol

3. So I have decided to refurbish the base by using wooden pranks

   

this time it turned out that the legs was not stable... I mean it's obviously looks like a legless bouncing chicken.

4. So I bought two DC motors and a caster wheel for a chair! and replaced the chicken legs with them!

   

5. Finally I moved on to playing with Kinect and solder a bit of the power supply cable of it to attach the DC DC converter which is connected to the portable power supply!