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qB project

qB is an autonomous differential drive robot developed in ROS Melodic.

Coponents used in qB project

Robot processing unit:

  • Udoo Bolt (Ryzen v8 low power processor)
  • Teensy4.0 or equivalent embedded microcontroller (for battery and state monitoring)
  • 16 GB RAM (at least 4GB required)
  • 128 GB Storage (at least 32GB required)
  • WiFi module

Actuators:

  • Hoverboard motors
  • Hoverboard wheels
  • ODrive motor controller

Sensors:

  • YDlidar X4
  • Intel Realsense T265
  • Intel Realsense D435

Power Supply:

  • Hoverboard battery (36v LiPo 10s2p)
  • 50v to 19v DC-DC buck converter

Installation steps

  1. git and python install

sudo apt-get install git -y

python 2.7 and 3 install

sudo apt-get install python python-pip python3 python3-pip -y

  1. ros install and configure

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update

sudo apt install ros-melodic-desktop-full -y

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

source ~/.bashrc

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential -y

sudo rosdep init

rosdep update

echo "source ~/qb/ros_ws/devel/setup.bash" >> ~/.bashrc

echo "export ROS_MASTER_URI=http://192.168.0.178:11311" >> ~/.bashrc

echo "export ROS_HOSTNAME=192.168.0.178" >> ~/.bashrc

echo "export ROS_IP=192.168.0.178" >> ~/.bashrc

  1. install qB ROS dependecies

sudo apt-get install ros-melodic-map-server ros-melodic-gmapping ros-melodic-rosbridge-server ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-web-video-server ros-melodic-amcl ros-melodic-move-base ros-melodic-dwa-local-planner ros-melodic-rosapi -y

  1. clone qB and setup

cd ~/

git clone https://github.com/whoobee/qb.git

cd ~/qB/ros_ws

git submodule update --init --recursive

catkin_make clean

  1. install Odrive

mkdir ~/qb/tools

cd ~/qb/tools

git clone https://github.com/madcowswe/ODrive

cd ODrive/tools

sudo pip install monotonic # required for py < 3

python setup.py sdist

sudo pip install dist/odrive-*.tar.gz

  1. seup ydlidar

sudo sh ~/qb/ros_ws/src/ydlidar_ros/startup/initenv.sh

  1. setup realsense cameras

sudo apt-get install ros-melodic-realsense2-camera -y

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

sudo apt-get install librealsense2-dkms -y

sudo apt-get install librealsense2-utils -y

  1. make qB

catkin_make

  1. enable power button listener script

enable shutdown for all users

sudo chmod u+s /sbin/shutdown

copy custome power button handler

sudo cp /home/whoobee/qb/script/powerbtn/power /etc/acpi/events/power

install powerbutton listener

sudo service acpid restart

sudo cp /home/whoobee/qb/scripts/powerbtn/power_listener.service /lib/systemd/system/

sudo systemctl daemon-reload

sudo systemctl enable power_listener.service

sudo systemctl start power_listener.service