Lineturtle ROS2 Package

Welcome to the Lineturtle ROS2 package repository! Lineturtle is an exciting project by RoboFuntastic that lets you build and control your very own drawing robot using ROS2 and MicroROS. This repository contains all the necessary code, resources, and instructions to get you started on this creative and educational journey.

Features

• /servo: Control the servo for marker placement on the drawing surface.
• /LEDs: Manage the LEDs mounted on the robot.
• /left_motor_ticks and /right_motor_ticks: Get motor encoder values for left and right wheels.
• /battery: Monitor the battery level of the robot.
• /cmd_vel: Control the movement of the robot.

Getting Started

Follow these steps to get started with your Lineturtle robot:

1. Go to your workspace:

   
   cd ros2_ws/src/

2. Clone this repository to your ROS2 workspace:

   
   git clone https://github.com/robofuntastic/lineturtle.git

3. Clone teleop_twist_joy repository (becuse lineturtle depends on the package) to your ROS2 workspace:

   
   git clone https://github.com/ros2/teleop_twist_joy.git -b foxy

4. Clone micro-ROS-Agent repository (becuse lineturtle depends on the package) to your ROS2 workspace:

   
   git clone https://github.com/micro-ROS/micro-ROS-Agent.git -b foxy

5. Build the ROS2 package and install dependencies:

   
   cd  ..
   rosdep install --from-paths src --ignore-src -r -y
   colcon build --symlink-install
   source install/local_setup.bash

6. Edit the config file /teleop_twist_joy/config/xbox.config.yaml, clear it and paste this

   
   teleop_twist_joy_node:
    ros__parameters:
      axis_linear: # right thumb stick vertical
        x: 4
      scale_linear:
        x: 0.15
      scale_linear_turbo:
        x: 0.3
      axis_angular: # right thumb stick horizontal
        yaw: 3
      scale_angular:
        yaw: 0.2
      scale_angular_turbo:
        yaw: 0.4
      enable_button: 6 # Left trigger button
      enable_turbo_button: 4 # left trigger button

7. 3D print the robot body using these STL files.

8. Gather all the components and configure your robot's hardware and connections as described in the guide.

9. Upload the microros sketch to ESP32.

10. Launch the lineturtle robot ros2 launch lineturtle lineturtle_launch.py

    Note

    If you get stuck in the configurations, set up Microros agent and JoyStick. You should consider the Udemy course. There every step is explained in detail.

Contributing

We welcome contributions and suggestions from the community! If you find issues, want to suggest enhancements, or contribute to the codebase, please check out ROS Discourse.

License

This project is licensed under the MIT License.

Unlock the world of robotics, creativity, and learning with Lineturtle by RoboFuntastic. Start building and exploring today!

Udemy Course

https://robofuntastic.com

RoboFuntastic YouTube Channel

ROS Discourse Community