Welcome to the Pet-Mk.IV repository

ROS1 repository in the https://github.com/Pet-Series Git-Organizations.
Containing multiply ROS1-packages.

Software/Setup Pet series micro robots

The main objective/scope for this repository is to control the part of the software (and parameter settings) that is unique for this Pet Mark IV (four) robot.

• Simplification: As MCU we mainly using Arduino compatible hardware, like Arduino UNO and Arduino NANO. Each MCU act as an ROS1-serial device.
• Standardisation: As system integration tool (Middle ware) we use ROS1 ronning on a Raspberry PI 3 with Linux/Raspian.
• Modularisation: We have tried to make the code as generic/common as possible.
• Cheap: Reuse left owers as much as possible.

Pet-Mk.IV in real life

Pet-Mk.IV IRL

Pet-Mk.IV virtual twin

The virtual twin of Pet-Mk.IV
See more: https://github.com/Pet-Series/pet_mk_iv_simulation.git

View from Gazebo

View from RViz

View from RViz (with Links/TF)

Prerequisites

Developing workstation (PC)

• Visual Studio Code@ Local PC: https://code.visualstudio.com/
• SSH authentication vs. ECU/SBC

Target Environment: Main ECU/SBC

• Raspberry PI model 3 Raspbian Buster (Debian Buster 10)
• ROS Melodic Ubuntu Bionic (but we compile from source anyway on the RPi/Raspbian).
• cmake for building ROS via catkin/cmake
• cmake for building Arduino firmware/sketches
• Python 2 (using various ROS-API)
• Arduino IDE (Not for the IDE itself... mainly for get/manage IDE-libraries).
• Arduino Library:
  • ROS-serial Library for Arduino: https://www.arduinolibraries.info/libraries/rosserial-arduino-library
  • Servo Library for Arduino: https://github.com/arduino-libraries/Servo
  • IRremote Library for Arduino: https://github.com/Arduino-IRremote/Arduino-IRremote
  • NewPing Ultrasonic sensor Library for Arduino: https://bitbucket.org/teckel12/arduino-new-ping/wiki/
• cmake upload firmware from RPi > Arduino system (No use of Arduino IDE)
• SSH authentication vs. Github repositories
• Clone of Git-repo:
  
  1. $ git clone https://github.com/Pet-Series/Pet-Mk-IV.git <- This repo!
  2. $ git clone https://github.com/Pet-Series/pet_mcu_common.git
  3. $ git clone https://github.com/Pet-Series/ros_lcd_driver.git

Target Environment: Sub-ECU/MCU #1

• Arduino UNO R3 via serial/USB-cable -> RPi
• Firmware:
  
  1. https://github.com/Pet-Series/pet_mcu_common
  2. https://github.com/Pet-Series/Pet-Mk-IV/tree/master/pet_mk_iv_arduino/pet_mk_iv_uno

Target Environment: Sub-ECU/MCU #2

• Arduino Nano via serial/USB-cable -> RPi
• Firmware:
  
  1. https://github.com/Pet-Series/pet_mcu_common
  2. https://github.com/Pet-Series/Pet-Mk-IV/tree/master/pet_mk_iv_arduino/pet_mk_iv_uno

Installing/Setup

...

Mechanics & Hardware

• Main ECU/CPU's: Raspberry Pi 3
  • Power by: 1x USB Power bank 1.5A
  • Display: LCD 1602 via I2C interface: PC8574T
  • Sensor: IMU GY-521/MPU6050(6 axis) via I2C
  • Sensor: Camera RPi Camera module 1.0
  • USB Power bank 1.5A
• Sub-ECU #1: Arduino UNO R3
  • Power by: Via RPi (1x USB Power bank 1.5A)
  • Sensor: 3x HC-SR04 ultrasonic ranging sensor for Obstacle detection
  • Sensor: 3x CTRT5000 Infrared sensors for tracing
  • Engine controller: L298N Dual H Bridge Step/DC-motor controller
• Auxiliary-ECU #2: Arduino Nano
  • Power by: Chassis battery pack
  • Sensor: 1x KY-022(1838T) Infrared(IR) receiver
  • Flash light Flash/Strobe light
• Chassis: Zumo with belt drive
  • Power source: 6x AAA-batteries (4+2 config => 6*1,2V=7,2V)
  • Engines: 2x Electrical engines (Controlled via "L298N Dual H Bridge"@Sub-ECU #1: Arduino UNO R3)

Drawing/Schemas:

Circuit Diagram - UNO	Circuit Diagram - NANO	Circuit Diagram - RPi
PowerDistributionSchema	PowerDistributionBoard

• More images: /doc

Glossary

Buzzword	My interpretation
ECU	Electronic Control Unit
IDE	Integrated_Development_Environment
MCU	Micro Control Unit
Pet	Not an abbreviation. Simply names of our virtual pets (aka. Robots)
ROS	Robot Operating System
ROSserial	core of rosserial for ROS
SBC	Single Board Computer

External references

• http://wiki.ros.org/
• http://wiki.ros.org/rosserial

For my own convenience - Some GitHub cheat sheets

• https://guides.github.com/features/mastering-markdown/
• https://help.github.com/en/github/writing-on-github/basic-writing-and-formatting-syntax
• https://www.webfx.com/tools/emoji-cheat-sheet/