DISCLAIMER

This repository is deprecated. Take a look at https://git.uibk.ac.at/informatik/stair/minibot for recent updates.

Introduction

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 in the ROS package.
• For more information on the LSS 4DOF Arm see the Readme in the ROS package.
• For more information on the Nvidia Jetson Image see the Readme in the buildenv folder. Note: This Nvidia Jetson Image contains no GUI interface. You need to connect via ssh - or at a later stage maybe via a webbrowser.

Notes

• Nvidia Jetson: Ubuntu 20.04 Build environment (ansible)
• ROS Noetic Basic Installation
• Sphero RVR:
  • Driver
  • ROS Description Package
  • Basic ROS Drive Node
  • Basic Demo
  • ROS Control Node
• Lynxmotion LSS 4 DoF Arm
  • Python Driver
  • ROS Descritpion Package
  • Basic Demo
  • CPP Serial Driver (for ROS Control - ROS Control only works with CPP)
  • ROS Control Node
• Intel RealSense: Drivers + ROS Package
• 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 Holder/Protection
    • Battery Holder
    • Intel Realsense
  • Test setup on all robots
  • Calibrate Arms
• Demo Scripts (inlcuding Full Robot Model)
• Power Supply Tests
  • 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
  • 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
  • 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
  • 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