#### DISCLAIMER ####
This is alpha.

## Introduction
<img src="docs/gmar_edu_robot_final.png" align="right" width="310" height="185">

This repository contains all sources for the NvidiaSpheroLynxmotionIntel MiniBot:

### Connecting 
To connect to the robots:
- Plugin the WiFi Router and connect to it using SSID: `EDUROBOTS` PASS: `robotsarefun`
- Power the Nvidia Jetson and ssh into a robot (You can find the IP on the robots). User: `gmar` Password: `gmar`

### Usage 
- To build the catkin_ws ros packages use at least gcc9. (`catkin build `)
- To view the robot in rviz: ```roslaunch minibot display.launch```
- For more information on the Sphero RVR base see the [Readme](/catkin_ws/src/sphero_rvr/README.md) in the ROS package.
- For more information on the LSS 4DOF Arm see the [Readme](/catkin_ws/src/lss_4dof/README.md) in the ROS package.
- For more information on the Nvidia Jetson Image see the [Readme](/jetson-nano-buildenv/README.md) in the buildenv folder. **Note:** This Nvidia Jetson Image contains nono GUI interface. You need to connect via ssh - or at a later stage maybe via a webbrowser.

### Notes 
- [x] Nvidia Jetson: Ubuntu 20.04 Build environment (ansible)
- [x] ROS Noetic Basic Installation
- [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
- [x] Build and usage instructions
- [ ] Web-Visualisation: https://github.com/dheera/rosboard/
- [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
  - [x] Test setup on all robots
  - [X] Calibrate Arms
- [ ] Demo Scripts (inlcuding Full Robot Model)
- [x] Power Supply Tests
  - [x] Test the (Xoro MTB 2005) Power supply for Arm and Nvidia Jetson
    - Results: you can not use the DC output an USB Output in parallel
  - [x] Test a QC3 battery pack with an USB-C PD output for Arm and Nvidia Jetson
    - Results: you can not set de USb-C PD output with a ZYPDE adapter to 9/12 Volt and use the USB or USB-QC output in parallel
  - [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 scripts for complete setup