bir_bbot - BIR Balancing Robot

The bir_bbot, provides the real robot bringup for the Bbot balancing robot with ROS.

Keywords: Balancing robot, ROS

Author: Matheus França and Lucas Souza
Advisor: Marco Reis
Affiliation: BIR - Brazilian Institute of Robotics

Purpose of the Project

Bbot, or Balancing Robot, is a self-balancing autonomous robot project. Our goal is to build a mobile robot operated via ROS Noetic capable of balancing and moving on two wheels. Furthermore, he must be able to read a TAG (fiducial framework). The TAG will send the robot a destination position to which it must autonomously navigate. To carry out navigation, this robot must be able to create a map of where it is and locate itself in it, allowing it to update its position throughout the mission and avoid obstacles while navigating to its objective. For more about this project see our web page, containing the steps for build this project, LINK.

Supported Versions

• Noetic: Built and tested under ROS Noetic and Ubuntu 20.04

Dependencies

• ROS : An open-source robot framework. (Version == Noetic)
• ros_control : ROS control interface.

• Teleop twist joy : Generic joystick teleop for twist robots.

Table of Contents

• bir_bbot - BIR Balancing Robot
• Purpose of the Project
  • Supported Versions
  • Dependencies
• Table of Contents
• File System
• Installation
  • Building from Source:
  • Example of Usage
    • Real
    • Simulation
• License
• Bugs & Feature Requests

File System

• doc_resources : Support files, including Jupyter about the control systems of Bbot and images to support the readme.
• lqr_controller : The support package for bbot_control. Contains our ROS LQR controller.
• bbot_control : Contains the controllers parameters to the robot.
• bbot_description : Defines the Bbot URDF, Rviz and meshes.
• bbot_bringup : Is the real robot bringup package.

Installation

Building from Source:

Attention, if you haven't installed ROS yet, please check Ubuntu install of ROS Noetic. Desktop-Full Install is the recommended one in order to work with this repository.

Building:

First, lets create a catkin workspace.

$ mkdir -p ~/catkin_ws/src

Then, clone bir_bbot inside your workspace source. For bringup, use the branch 'real_robot'

$ git clone [email protected]:Brazilian-Institute-of-Robotics/bir_bbot.git -b real_robot

Now, just build your catkin workspace.

$ cd ~/catkin_ws
$ catkin_make

Don't forget to source your workspace before using it.

$ source devel/setup.bash

Example of Usage

Real

Just Run

$ roslaunch bbot_bringup bbot_bringup.launch

The teleop launch is configured for a Xbox joystick. Just plug it in Bbot or another machine connected to the Bbot ROS Master and call the following launch from the same machine.

$ roslaunch bbot_bringup bbot_teleop.launch

• Real model of Bbot.

Simulation

For simulation, we have another repository, see the bir_bbot-simulation, and have fun!!

License

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.