LinoRobot : Robot Operating System

Linobot is an autonomous robot that moves around a floor space. Its build on top of the robot operating system.

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Linobot built on top robot operating system. We're making the 2 wheel version of the robot.

Robots are getting far more sophisticated, far more capable and all this, with less effort.  The aim of this project was to learn ROS (Robot Operating System), the assembly of the materials, electronics and all the of the other components that make up the robot.  The aim of project is to lower the bar even further for people wanting to build a (lino) robot.  

Rather than starting everything from scratch we've configured the Raspberry pi with the image from Ubiquity Robotics.  This comes configured with Ubuntu 16.04 and ROS pre-installed.  Disabled the service as instructed and installed Linobot using 1.3 from linobots github.  

  • 1 × Kinect V1 the eyes for the robot
  • 1 × Teensy 3.2 microcontroller for talking to the wheels, MCU's and various components
  • 1 × Raspberry Pi 3 For the robot to compute the higher level stuff
  • 2 × sn754410 Interface and IO ICs / Peripheral Drivers and Actuators
  • 1 × Motors with encoders drive the

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  • moving robot

    kelster10175704/30/2018 at 19:55 0 comments

    We finally got the robot to move.   See the video here

    Problems Solved
    Teensy Bootloader > We could not get the pi to connect to the teensy. Discovered we had got the teensy and a nano mixed up at some point *face palm*, now works as expected
    Power issue > The power unit was failing to charge, however after checking the powers supply plug we were using we discovered that it was outputting just under 5V volts instead of its rated 12V. Replaced power supply and now working fine.
    Solid Core Motor wires > Kept breaking so changed to stranded.
    A stable virtual box for the development computer > Bob has setup a stable Linux box with the ROS image for the development computer working on the virtual box. 
    Robot Pi > setup with all the packages installed. 

    Next challenges
    setup the Microsoft Kinect for the robots eyes > Matt ordered one from ebay so we can start implementing it. Will be interesting as the github guide does not cover its setup.
    Static IP address for Wifi on Robot Pi >The current static IP address is only for the ethernet connection, need to get this changed so we don't have trailing wires.
    Encoders > We now have two encoders but they don't fit the base mount so going to have to glue them on instead. Once in we can configure the Odometry settings.
    Mounting & powering the Pi > The Pi need mounting on the robot and will need powering from the power unit >>> assuming the 5V stepdown already on the unit is for this?
    Cleaning up the wiring > we need a breakout board to mount the teensy, IMU and the connecting wires to the power, drivers & encoders. Current setup is a bit of a nightmare
    Motor delay when turning > there is currently a delay when sending the turn command to the robot, there is a short whine for about a second before the motor begins to turn. not sure if this is an issue with how we have the drivers wired up?

  • Circuits and assembly

    kelster10175703/18/2018 at 20:21 0 comments

    Hit an issue with the "catkin_make" command on the Pi.   From reading forum post, we need to enable swap file for this to complete. Ran the commands "sudo apt-get install dphys-swapfile
    cd ~/linorobot_ws

    Catkin_make runs fine now. From the instuctions 1.4 we gave each the robot and the host development a static IP, that way every time we want to work on the robot we don't have to change the settings.   We're using the kinect so we skipped section 1.5.   We have wired up the section as can be seen the picture :

    Our setup is 2 x 8650 batteries series  This gives us ample of voltage for the robot. We use 2 buckles to reduce the power for the various components.   The 2 chips in the center are the motor drivers and on the right hand side circuit is to charge the battery.     

    We've now attached the rest of the components: the raspberry pi (the robot computer), the Teensey.   

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