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Robot Use Documentation

Wiring

Arduino Mega:

  • USB: Connect to Intel NUC
  • Arduino GND --> Sabertooth GND
  • Arduino VIN --> Sabertooth 5V
  • Arduino TX (Any TX pin that isn’t TX0) --> Sabertooth S1

Sabertooth Power:

  • Battery + --> Sabertooth B+
  • Battery - --> Sabertooth B-
  • Motor1 + -->Sabertooth M1A
  • Motor1 - --> Sabertooth M1B
  • Motor2 + --> Sabertooth M2A
  • Motor2 - --> Sabertooth M2B

NUC:

  • Powered by personal power supply
  • USB to Lidar
  • USB to Stereo Camera
  • USB to Arduino

ROS Instructions

To run teleoperation, follow these steps:

  1. Connect Xbox controller to NUC.
  2. Run roscore.
  3. Source the workspace using source ~/delivery_bot_ws/devel/setup.bash.
  4. Look for ttyACMx in /dev/ as this represents how the NUC sees the Arduino.
  5. Run the serial node for the Arduino with rosrun rosserial_python serial_node.py /dev/ttyACMx.
  6. Launch the teleoperation with roslaunch delivery_bot teleop.launch.

Dip Switches Configuration

For Power Supply + Single Sabertooth 2x60, use the following dip switch configuration:

  • Dip Switches: 101011