TurtleBro
AMG88xx thermal sensor
Limit switch
Audio speakers
This package allows you to start different nodes for excursion.
Node "heat_sensor" allows TurtleBro to receive data from the AMG88xx GridEYE 8x8 IR camera thermal sensor. When a heat source with a temperature higher than threshold (you can configure this param in the launch file) is detected, the detection node sends True into /heat_sensor_output topic.
Node "aruco_detect_server" allows TurtleBro to work with the videostream from camera and recognize aruco marker.
Node "heat_speaker" allows TurtleBro to speak the measured temperature and control the excursion.
Node "excursion_point_service" allows TurtleBro to implement a function in which the robot recognize and speak aruco markers
AMG88xx thermal sensor must be connected to built-in arduino compatible controller via I2C protocol. Wires from AMG88XX pins must be connected to one of the white connectors A8-A11 or A13-A15 on the TurtleBoard.
Sensor documentation:
https://cdn.sparkfun.com/assets/4/1/c/0/1/Grid-EYE_Datasheet.pdf
https://cdn-learn.adafruit.com/downloads/pdf/adafruit-amg8833-8x8-thermal-camera-sensor.pdf
Wiring:
AMG88XX pins -> Turtlebro pin
VIN -> 5V
GND -> GND
SDA -> SDA
SCL -> SCL
Example about connecting AMG88xx to Arduino:
https://learn.adafruit.com/adafruit-amg8833-8x8-thermal-camera-sensor/arduino-wiring-test
Limit switch 'NC' pin must be connected STRICTLY to pin marked 'GPIO' in white connector marked as 'A12'.
Limit switch 'GND' pin must be connected to 'GND' pin on the same connector marked as 'A12'.
Limit switch 'VCC' pin must be connected to '5V' pin on the same connector marked as 'A12'.
To mount the speaker, install the upper mounting pad on the robot. Next, install the speaker according to the configuration. Connect the speaker as follows:
The USB cable of the speaker -> to the USB port of the Raspberry Pi
Speaker Audio Cable -> to Raspberry Pi Audio Port
Install Arduino IDE https://www.arduino.cc/en/main/software
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Open the Arduino Library Manager, find AMGXX library in search string, and install it. You also can download it directly from https://github.com/adafruit/Adafruit_AMG88xx
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Generate and copy ros_lib to your Arduino Libraries.
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Open file src/arduino/amg88xx_lm_main.ino from cloned repo in Arduino IDE. Connect built-in turtlebro`s Arduino Mega via USB, and upload script to it. (or upload remotely)
After uploading you must see topics "/amg88xx_pixels" and "/limit_switch" in list of ros topics.
First, you need to install turtlebro_patrol packade to TurtleBro:
cd ~/catkin_ws/src
git clone https://github.com/voltbro/turtlebro_patrol
cd ..
catkin_make --pkg turtlebro_patrol
Also, you need to install system package festvox-ru:
sudo apt install festvox-ru
After that, you can install turtlebro_heat_excursion package:
cd ~/catkin_ws/src
git clone https://github.com/voltbro/turtlebro_heat_excursion.git
cd ~/catkin_ws
catkin_make --pkg turtlebro_heat_excursion
Before launch you have to clear data from stm32 by sending reset command:
rosservice call /reset
To launch the package, use the following command:
roslaunch turtlebro_heat_excursion heat_excursion.launch
After installation, please, reboot your robot !
After lauching you can see next topics:
/excursion_control
/heat_sensor_output
Before starting the excursion, you need to publish the "start" command to the topic /excurion_control. After that, you need to press the limit switch on the robot - the robot will measure the temperature and speak it, then the excursion will start.
The control of the excursion is performed by sending messages of the std_msgs/String type to the topic /excurion_control
Accepted commands:
- start - starts the excursion cycle or switch robot to next goal
- pause - pauses excursion at any point
- resume - resume excursion at any point
- home - go to home position
- stop - stops excursion and executing the package
Overheating data is published in the topic /heat_sensor_output (the overheating threshold parameter is set to .launch file)