Page Index - hippo5329/linorobot2_hardware GitHub Wiki
104 page(s) in this GitHub Wiki:
- Home
- linorobot2_hardware with esp32 and pico support
- Recommended MCU for beginners : pico2 pico
- How it work
- Supported esp32 variants
- Workflow - Recommended
- Suggested robot configuration for beginners - Recommended
- LD19 - Recommended
- Waveshare General Driver for Robots - Recommended for 2WD
- Install software tools
- Install firmware source
- Test micro-ROS agent connection before wiring and building the robots - Recommended
- pico pico2 esp32s3 teensy41 with micro-ROS serial transport on /dev/ttyACM0
- Check topics
- esp32 with micro-ROS serial transport on /dev/ttyUSB0
- esp32 with micro-ROS wifi transport
- Connect the IMU and test_sensors
- Build and run test_sensors
- i2cdetect debug message
- Connect micro-ROS agent again and check /imu/data topic
- Configuration examples
- Motor driver configuration : USE_BTS7960_MOTOR_DRIVER - Recommended
- Supported sensors
- I2C bus pull up requirement - Important
- controller boards
- I/O pins assignment
- esp32 i/o pins assignment
- esp32-s2 i/o pins assignment
- esp32-s3 i/o pins assignment
- waveshare general driver for robot esp32 i/o pins assignment
- pico/pico2 i/o pins assignment
- Build the robot
- Robot orientation
- Test the motors and sensors
- Test the motors and encoders
- Test the robot at maximum velocity and acceleration with full load
- Install linorobot2
- Configure URDF in linorobot2
- Bring up the robot
- pico/pico2, teensy or esp32-s3 (ttyACM0) with serial transport and lidar (ttyUSB0) on the robot computer
- Check topics
- esp32 with micro-ROS wifi transport and ld19 lidar udp server without a robot computer
- esp32 with serial transport and lidar on the robot computer
- Drive the robot with a keyboard
- Drive the robot with a gamepad
- Enable Magnetometer
- Magnetometer calibration
- Nav2 SLAM and Navigation
- Nav2 SLAM
- Nav2 Navigate with a map
- Linorobot configuration, SLAM and navigation
- Linorobot2 SLAM
- Linorobot2 Navigate with a map
- Linorobot custom nav2 params file
- Velocity Smoother
- Laser Filter
- Localization Error
- Fine tune covariance matrix - Optional
- USB ports on esp32-s2 and esp32-s3
- Serial transport baud rate requirement
- Firmware update
- Add this fork to existing linorobot/linorobot2_hardware
- Install linorobot2 on Ubuntu 20.04 and Foxy
- Custom configuration file - Recommended
- Sample robot build
- Why esp32
- Reset and power on/off USB devices
- Use ROS2 with Fast-DDS Discovery Server - Optional
- Enable remote syslog server - Recommended for wifi transport
- Switch to remote upload using ArduinoOTA - Recommended for wifi transport
- Battery capacity percentage estimation - Optional
- Improve esp32 ADC accuracy with calibration - Optional
- Ultrasonic range sensor - Optional
- PCA9685 i2c 16ch pwm controller - Optional
- ZIO qwiic 4 dc motor controller
- Waveshare pico motor driver
- Reset and read information of esp32 - optional
- Program the CP2102 to unique serial ID - Optional
- CH341 I2C USB dongle - Optional
- Calculate motor requirement
- Docker
- Configuration details
- 1. Robot Settings
- ROBOT TYPE (LINO_BASE)
- MOTOR DRIVERS
- INERTIAL MEASUREMENT UNIT (IMU)
- WIFI related settings, only for esp32
- Optional settings
- 2. Hardware Pin Assignments
- Parts
- URDF
- Troubleshooting Guide
- 1. One of my motor isn't spinning
- 2. Wrong wheel is spinning during calibration process
- 3 One of my encoders has no reading (0 value)
- 4. The wheels only spin in one direction
- 5. The motor doesn't change it's direction after setting the INV to true
- 6. Nothing's printing when I run the screen app
- 7. The firmware was uploaded but nothing's happening
- 8. The robot's forward motion is not straight
- 9. The robot rotates after braking
- 10. PlatformIO stop building at "Downloading micro-ROS dev dependencies"
- README
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