MockturtleBot2

ROS2 from scratch, learning by doing

A simple ros2 differential drive robot.

Hardware components

• Intel NUC 12V
• Arduino NANO + Servoboard
• LiFePO Accu 12V 10Ah
• RC car servocontroller
• DC motors
• Intel R200 / Kinect V1 / USB CAM
• Sonar HC-SR04

Software components

• Ubuntu 18.04 LTS Server
• ROS2 Crystal
• PyMata-AIO
• py-trees

Requirements

apt install python3 apt install python3-pip pip3 install pymata-aio pip3 install py-trees

Arduino IDE

flash firmataplus from pymata-aio to arduino hardware

Sources:

Servoboard https://www.amazon.de/IZOKEE-Erweiterungs-Sensor-Shield-Arduino/dp/B07KCDLBMG/ref=pd_sbs_147_1?_encoding=UTF8&pd_rd_i=B07KCDLBMG&pd_rd_r=b32c4b1f-1985-11e9-b411-653be4f1f91d&pd_rd_w=6LGBe&pd_rd_wg=pVDeB&pf_rd_p=51bcaa00-4765-4e8f-a690-5db3c9ed1b31&pf_rd_r=8TMPCJJ44FKY80Z49SD7&psc=1&refRID=8TMPCJJ44FKY80Z49SD7#HLCXComparisonWidget_feature_div

Pymata-IO https://github.com/MrYsLab/pymata-aio

All samples are pure python3 programs

Stay tuned