SUCATA is a 4-wheeled robot developed with the ROS 2 Jazzy framework, designed for simulation in Gazebo Harmonic and control via ros2_control. The project aims to facilitate testing, sensor integration (such as LIDAR and camera for reading ArUco markers) and different operation methods.
- Robot configured and simulated in Gazebo ✅
- Functional control via
teleop_keyboard✅ - Functional control via
Nunchuck✅ - Navigation ✅
- SLAM ✅
- Depth camera - No integration in Navigation for now
- ArUco detection - Docking algorithm needs to be worked on
- YOLO11n - Algorithm needs work
- Functional control via
- LIDAR (
urg_node2) - ArUco Markers (
ros2_aruco) - Asus Xtion Pro (
openni2_camera)
Components used in this project:
| Component | |
|---|---|
| 1 | Raspberry Pi 4B (4 GB) |
| 2 | SanDisk 32 GB SD Card (minimum) |
| 3 | Skeleton Bot 4WD hercules mobile robotic platform |
| 4 | IMU MPU6050 |
| 5 | LiDAR URG-04LX |
| 6 | Raspberry Pi camera module 3 |
| 7 | Asus Xtion Pro |
| 8 | 50mm 12V Fan |
| 9 | 50mm Fan Stand |
| 10 | LiPo 4S 2400mAh 14.8V Battery |
| 11 | Modified Nunchuck (see Nunchuck repository) |
| 12 | USB Dock with external power supply |
| 13 | TPLink MR3020 Router (optional) |
The following commands assume that the user already has a functional ROS2 environment and Gazebo Harmonic, consult the documentation for more information.
Simulation setup:
# Create workspace
mkdir -p ros2ws/src
cd ros2ws/src
# Clone main repository
git clone https://github.com/Malicancas/sucata
# Install dependencies
rosdep install --from-paths src --ignore-src -r -y
# Follow the steps to install Gazebo Harmonic
https://gazebosim.org/docs/harmonic/install_ubuntu/
Build and simulation:
# Inside the /ros2ws folder
colcon build --symlink-install
source install/setup.bash
export GZ_SIM_RESOURCE_PATH=~/my-local-models/
ros2 launch sucata launch_sim.launch.pyRaspberry Pi setup:
For the following configurations, it is recommended to connect to the Raspberry Pi through an SSH connection.
mkdir -p ros2ws/src
cd ros2ws/src
# Clone the RPI branch
git clone --single-branch --branch RPI https://github.com/Malicancas/sucata.git
# Package for ArUco detection
git clone https://github.com/JMU-ROBOTICS-VIVA/ros2_aruco.git
# Package for LiDAR
git clone https://github.com/Hokuyo-aut/urg_node2.git
# Package for depth camera
git clone https://github.com/ros-drivers/openni2_camera
For BLE controller use (Nunchuck):
Clone the repository mentioned below and follow the instructions.
git clone https://github.com/Malicancas/nunchuck-BLE