Rover Control Project

(Charles Sedgwick) [charlessedgwick.com]

RoverDaemons exits as a test bed for learning how to implement control software for autonomous land based vehicles. The core computing platforms supported are the BeagleBone Blue. The BeagleBone Black and Green are supported via the BeagleBoneBlack branch. An alternative version that uses ACH instead of ROS is supported via the feature-ach branch.

Dependancies

@master:

• robotics_cape_installer: https://github.com/StrawsonDesign/Robotics_Cape_Installer
• Latest Debian Stretch IoT image for BeagleBone Blue
• OpenCV 3.2
• ROS kinetic

@feature-ach:

• ACH: https://github.com/golems/ach

@BeagleBoneBlack

• ROS kinetic
• mraa: https://github.com/intel-iot-devkit/mraa
• bb.org-overlays: https://github.com/RobertCNelson/bb.org-overlays
• BMP180 Beaglebone Black C++ driver
• LSM303 Beaglebone Black C++ driver
• L3DG20 Beaglebone black C++ driver

Compilation

1. clone directory

   https://github.com/sedgwickc/RoverDaemons.git

2. navigate to newly created RoverDaemons directory

@master:

3. source your ROS environment
4. run catkin_make

@feature-ach:

3. run make

   make all

Startup

@master:

1. start roscore
2. Nodes built in step 4 should be in devel/lib/. Start them via roslaunch.

@feature-ach:

0. Ensure pwm pins are setup:

   sudo setupPWM.sh

1. create channels

   sudo ./create_channels.sh -c

2. start daemons

   sudo ./build/sub_nav

3. start rover controller

   sudo ./build/control

Shutdown

@master:

@feature-ach:

1. Kill daemons

   sudo kill $DAEMON_PID

Troubleshooting

@master:

@feature-ach:

1. delete channels

   sudo ./create_channels.sh -d

2. logging
   • logs are stored in the following directory:

     /var/log/rover_logs/nav_log.txt