(Charles Sedgwick) [charlessedgwick.com]
RoverDaemons exits as a test bed for learning how to implement control software for autonomous land based vehicles. The core computing platforms supported are the BeagleBone Blue. The BeagleBone Black and Green are supported via the BeagleBoneBlack branch. An alternative version that uses ACH instead of ROS is supported via the feature-ach branch.
@master:
- robotics_cape_installer: https://github.com/StrawsonDesign/Robotics_Cape_Installer
- Latest Debian Stretch IoT image for BeagleBone Blue
- OpenCV 3.2
- ROS kinetic
@feature-ach:
@BeagleBoneBlack
- ROS kinetic
- mraa: https://github.com/intel-iot-devkit/mraa
- bb.org-overlays: https://github.com/RobertCNelson/bb.org-overlays
- BMP180 Beaglebone Black C++ driver
- LSM303 Beaglebone Black C++ driver
- L3DG20 Beaglebone black C++ driver
- clone directory
https://github.com/sedgwickc/RoverDaemons.git
- navigate to newly created RoverDaemons directory
@master:
3. source your ROS environment
4. run catkin_make
@feature-ach:
3. run make
make all
@master:
- start roscore
- Nodes built in step 4 should be in devel/lib/. Start them via roslaunch.
@feature-ach:
0. Ensure pwm pins are setup:
sudo setupPWM.sh
- create channels
sudo ./create_channels.sh -c
- start daemons
sudo ./build/sub_nav
- start rover controller
sudo ./build/control
@master:
@feature-ach:
- Kill daemons
sudo kill $DAEMON_PID
@master:
@feature-ach:
- delete channels
sudo ./create_channels.sh -d
- logging
- logs are stored in the following directory:
/var/log/rover_logs/nav_log.txt
- logs are stored in the following directory: