Commit e8e81060 authored by Simon Markus Haller-Seeber's avatar Simon Markus Haller-Seeber
Browse files

Added some doc

parent 462a556a
......@@ -3,23 +3,33 @@ This is very alpha.
## Introduction
<img src="docs/gmar_edu_robot.png" align="right" width="230" height="300">
<img src="docs/gmar_edu_robot_final.png" align="right" width="620" height="370">
This repository contains all sources for the NvidiaSpheroLynxmotionIntel MiniBot:
- [x] Nvidia Jetson: Ubuntu 20.04 Build environment (ansible)
- [x] ROS Noetic Basic Installation
- [ ] Sphero RVR: Driver + ROS package
- [ ] Lynxmotion LSS 4 DoF Arm: Driver + ROS package
- [x] Sphero RVR:
- [x] Driver
- [x] ROS Description Package
- [x] Basic ROS Drive Node
- [x] Basic Demo
- [ ] ROS Control Node
- [x] Lynxmotion LSS 4 DoF Arm
- [x] Python Driver
- [x] ROS Descritpion Package
- [x] Basic Demo
- [ ] CPP Serial Driver (for ROS Control - ROS Control only works with CPP)
- [ ] ROS Control Node
- [x] Intel RealSense: Drivers + ROS Package
- [ ] Build and usage instructions
- [x] Build and usage instructions
- [ ] Web-Visualisation: https://github.com/dheera/rosboard/
- [ ] Build 6 of those Robots
- [ ] Build the LSS Arms
- [ ] Design and print adapters for
- [ ] Nvidia Jetson
- [ ] Battery Holder
- [x] Build 6 of those Robots
- [x] Build the LSS Arms
- [x] Design and print adapters for
- [x] Nvidia Jetson Holder/Protection
- [x] Battery Holder
- [x] Intel Realsense
- [ ] Demo Scripts (inlcuding Full Robot Model)
- [x] Power Supply Tests
......@@ -30,9 +40,11 @@ This repository contains all sources for the NvidiaSpheroLynxmotionIntel MiniBot
- [x] Use ZYPDE Adapter with 5V/3A for the Arm and USB-C QC for the Nvidia Jetson
- Results: sadly one can not use PD in combination with USB with all tested Battery Packs
- [x] Semi-optimal solution: now we have 3 Battery Packs: 1 Built-IN (Sphero RVR), 2 external (https://www.amazon.de/-/en/10000mAh-External-Battery-Portable-Charger-gray/dp/B084TKKT6V): 1 with USB 5V/3A for the Nvidia Jetson and one with PD for the Arm
- [ ] Startup Scripts
- [ ] Test complete setup
## The Sphero RVR Base:
<img src="docs/sphero_rvr_urdf2.jpg" align="right" width="210" height="140">
<img src="docs/sphero_rvr_urdf.jpg" align="right" width="210" height="140">
......@@ -41,7 +53,8 @@ This repository contains all sources for the NvidiaSpheroLynxmotionIntel MiniBot
- [x] This repository is build upon: https://github.com/strean/rvr_ros and the free Sphero RVR CPP library from https://bitbucket.org/rmerriam/rvr-cpp.
- [x] Basic control from Nvidia Jetson (directly via ``/dev/ttyTHS1``)
- [x] Basic ROS Control (actually no one till now wrote a real ROS Controller)
- [x] Python Version of Basic ROS Controller (Build upon URDF; Velocity Control)
- [x] Python Version of Basic ROS Controller (rosrun sphero_rvr_hw rvr-ros.py)
- [x] C++ Version of Basic ROS Controller (roslaunch sphero_rvr_hw rvr_ros.launch)
- [x] C++ Version ROS Controller (Build upon URDF; Velocity Control)
- [ ] Still an Issue with https://bitbucket.org/rmerriam/rvr-cpp library> sensors_s.locator() for odometry does not stream data.
- [ ] There is no way to get the motor currentor motor velocity from the SPhero RVR - so the classical ROS Controller read part is not working
......@@ -58,13 +71,14 @@ This repository contains all sources for the NvidiaSpheroLynxmotionIntel MiniBot
<img src="docs/arm_urdf.jpg" align="right" width="210" height="170">
<img src="docs/arm_urdf2.jpg" align="right" width="210" height="170">
- [x] Calibration with calibration tool
- [x] Driver: currently offical python drivers
- [x] Basic control from Nvidia Jetson (directly via a usb serial converter ``/dev/ttyUSB0``)
- [ ] Write ROS Controller
- [x] Create STL Files for URDF
- [x] Build URDF Model (v0.1)
- [ ] Write service calls for e.g. led color, settigns for the LSS Servos...
- [ ] maybe switch to rust: https://github.com/dmweis/lss_driver
- [ ] Write service calls for e.g. led color, settings for the LSS Servos...
- [ ] maybe switch to rust: https://github.com/dmweis/lss_driver using rust ros control (for the moment i think this is too experimental)
## Nvidia Jetson:
......@@ -78,48 +92,3 @@ This repository contains all sources for the NvidiaSpheroLynxmotionIntel MiniBot
**Note:** This image is "minimal" and has no GUI interface. You need to connect via ssh - or at a later stage maybe via a webbrowser.
### Build Instruction
Exports:
```
export JETSON_NANO_BOARD=jetson-nano-2gb
export JETSON_BUILD_DIR=/mnt/EXT/jetson_nano
export JETSON_ROOTFS_DIR=/mnt/EXT/jetson-rootdir
```
#### Prepare the root file-system
```
sudo -E ./create-rootfs.sh
```
#### Use ansible to install apropriate files and configurations
```
cd ansible
sudo -E $(which ansible-playbook) jetson.yaml
cd ..
```
##### Create the sd card image and flash
```
sudo -E ./create-image.sh
# flash image with
sudo ./flash-image.sh /path/to/jetson.img /dev/mmcblk0
# or with balena and resize manually
balena-etcher-electron
# resize disk
sudo gprated
sudo e2fsck -f /dev/mmcblk0
sudo resize2fs -f /dev/mmblck0
```
#### More information on the Ubuntu Jetson Nano Base image
- https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/updating_jetson_and_host.html
- https://github.com/pythops/jetson-nano-image/ (supported boards)
- [Jetson nano](https://developer.nvidia.com/embedded/jetson-nano-developer-kit)
- [Jetson nano 2GB](https://developer.nvidia.com/embedded/jetson-nano-2gb-developer-kit)
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