Code for my robot, BWO.
- The body is a DFRobot HCR.
- The drive motor controller is a DFRobot 2×15A DC Motor Driver.
- The drive motor controller and encoders, as well as the front bumpers, are connected to a
Seeeduino XIAO
microcontroller, which controls the motor velocities, and prevents forward motion if a bumper is triggered.
The code running on this microcontroller is in
src/arduino/motor_control/motor_control.ino. - The main computer is an on-board Nvidia Jetson Nano.
- The camera is an Intel RealSense Depth Camera D435i.
- Ubuntu 18.04 Bionic Beaver
- ROS 2 Dashing Diademata -- This is (at the time of this writing) the latest LTS version of ROS 2 that is available for Ubuntu 18.04.
- Python 3.6 (unfortunately Nvidia's DNN libraries do not yet support newer versions)