robo_car

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remote-controlled & autonomous driving robotic car

robo_car 최신버젼 다운로드

최종 버전 다운로드 (.zip)

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# RoboCar

**DEPRECATED**, checkout [RoboCar_Platform](https://github.com/bierschi/RoboCar_Platform) and [RoboCar_SDK](https://github.com/bierschi/RoboCar_SDK)

The main aim of this repo is to set up a low-cost remote-controlled robotic car
and later on a completely autonomous driving car with a Raspberry Pi 3b+

#### Table of Contents:

- [Hardware](https://github.com/bierschi/robo_car#hardware)
    - [Components](https://github.com/bierschi/robo_car#components)
    - [Circuit Diagram](https://github.com/bierschi/robo_car#circuit-diagram)
- [Software](https://github.com/bierschi/robo_car#software)
    - [Remote-controlled](https://github.com/bierschi/robo_car#remote-controlled)
        - [RoboCar](https://github.com/bierschi/robo_car#robocar-1)
        - [RoboControl](https://github.com/bierschi/robo_car#robocontrol)
        - [RoboSLAM](https://github.com/bierschi/robo_car#roboslam)
    - [Autonomous driving](https://github.com/bierschi/robo_car#autonomous-driving)
        - [ROS drivers](https://github.com/bierschi/robo_car#ros-drivers)
        - [Transformation tree of the RoboCar](https://github.com/bierschi/robo_car#create-a-correct-transformation-tree-of-the-robot)
        - [Navigation Stack](https://github.com/bierschi/robo_car#navigation-stack)
- [Operating System](https://github.com/bierschi/robo_car#operating-system)
    - [Install Ubuntu Mate for Raspberry Pi 3b+](https://github.com/bierschi/robo_car#instructions-to-install-ubuntu-mate-for-raspberry-pi-3b)
    - [Install ROS on Ubuntu Mate](https://github.com/bierschi/robo_car#instructions-to-install-ros-on-ubuntu-mate)
    - [Add write permission to the hokuyo port /dev/ttyACM0](https://github.com/bierschi/robo_car#add-write-permission-to-the-hokuyo-port-devttyacm0)
    - [Create a systemd service for roscore master](https://github.com/bierschi/robo_car#create-a-systemd-service-for-roscore-master)
    - [Create a systemd service for hokuyo_hector_slam.launch file](https://github.com/bierschi/robo_car#create-a-systemd-service-for-hokuyo_hector_slamlaunch-file)
    - [Wiring Pi update](https://github.com/bierschi/robo_car#wiring-pi-update)
- [Project Layout](https://github.com/bierschi/robo_car#project-layout)

## Hardware
To build this platform, two essential part have to be considered. On
the one hand the used hardware components and on the other hand the wiring of
the individual components

#### Components
Here are listed all hardware components that were used to build this RoboCar

- **Chassis**:
    - 4WD RC Smart Auto Chassis: [Auto Chassis](https://de.aliexpress.com/item/4WD-RC-Smart-Auto-Chassis-F-r-Arduino-Plattform-Mit-MG996R-Metal-Gear-Servo-Lagersatz-Lenkgetriebe/32830665408.html?spm=a2g0x.search0104.3.2.106a2f5f4Hjmhg&ws_ab_test=searchweb0_0%2Csearchweb201602_4_10320_10152_10065_10151_10344_10068_10342_10547_10343_10340_10341_10548_10696_10084_10083_10618_10304_5725020_10307_10820_10821_10302_5724920_5724120_10843_5724020_10059_100031_10319_5724320_10103_10624_10623_10622_10621_10620_5724220%2Csearchweb201603_2%2CppcSwitch_5&algo_expid=0a82566b-deae-43f9-9fa3-5f2403602186-0&algo_pvid=0a82566b-deae-43f9-9fa3-5f2403602186&transAbTest=ae803_2&priceBeautifyAB=0)

- **Motor equipment**:
    - Servomotor MG996R (already included in the auto chassis): [Servomotor](https://www.ebay.de/itm/192047974387)
    - Gearmotor (already included in the auto chassis): [Gearmotor](https://www.ebay.de/itm/132733015168)
    - Motordriver Pololu DRV8838: [Motor Driver](https://www.ebay.de/itm/Pololu-DRV8838-Single-Brushed-DC-Motor-Driver-Carrier-2990/272351389574?ssPageName=STRK%3AMEBIDX%3AIT&_trksid=p2057872.m2749.l2649)

- **Raspberry Pi 3b+**: [Raspberry Pi 3b+](https://www.amazon.de/dp/B07BDR5PDW/ref=sxnav_sxwds-bovbp-i_m_2?pf_rd_m=A3JWKAKR8XB7XF&pf_rd_p=b3231e2b-a779-4655-bc87-f09acb903eca&pd_rd_wg=0coGd&pf_rd_r=GXQJP37HWMA1E86RFGCP&pf_rd_s=desktop-sx-nav&pf_rd_t=301&pd_rd_i=B07BDR5PDW&pd_rd_w=zJXAB&pf_rd_i=raspberry+pi+3+b%2B&pd_rd_r=063492d1-ecbd-4f0a-b68a-2442561c6d08&ie=UTF8&qid=1535019097&sr=2)

- **Power Supply**:
    - Kraftmax RC accumulator : [Accumulator](https://www.amazon.de/gp/product/B00GOWVBU6/ref=oh_aui_detailpage_o02_s00?ie=UTF8&psc=1)
    - Step Down Poti: [Step Down XD-45](https://www.ebay.de/itm/XD-45-MH-mini-360-Wandler-Buck-Step-Down-Poti-DC-DC-LM2596-RC-Modul/253093535843?ssPageName=STRK%3AMEBIDX%3AIT&_trksid=p2057872.m2749.l2649)

- **Sensors**:
 - PiCamera: [PiCamera](https://www.amazon.de/Raspberry-Pi-V2-1-1080P-Kamera-Modul/dp/B01ER2SKFS/ref=sr_1_6?s=computers&ie=UTF8&qid=1539427901&sr=1-6&keywords=pi+kamera)
 - Ultrasonic ranging module HC-SR04 + SG90 Servomotor: [Ultrasonic + Servo](https://www.ebay.de/itm/SG90-Servo-HC-SR04-Ultraschall-Entfernungsmodul-KFZ-Halterung/322711484715?ssPageName=STRK%3AMEBIDX%3AIT&var=511769911508&_trksid=p2060353.m2749.l2649)
 - PCA9685 PWM/Servo Driver: [PCA9685](https://www.ebay.de/itm/PCA9685-16-Kanal-Driver-Servomotor-Treiber-Modul-PWM-I2C-Arduino-Raspberry-Pi/253285067342?ssPageName=STRK%3AMEBIDX%3AIT&_trksid=p2057872.m2749.l2649)
 - MPU6050: [MPU6050](https://www.ebay.de/itm/GY-521-MPU-6050-3-Achsen-Gyroskop-Accelerometer-module-Raspberry-Pi-for-Arduino/272260489619?ssPageName=STRK%3AMEBIDX%3AIT&_trksid=p2057872.m2749.l2649)
 - Laser Scanner Hokuyo URG-04LX-UG01: [Hokuyo URG](https://www.robotshop.com/de/de/hokuyo-urg-04lx-ug01-scan-laser-entfernungsmesser-eu.html?gclid=Cj0KCQjw6MHdBRCtARIsAEigMxFSq916Qq001TadjiVhvlQdLHBiCjHoI453lspePQd77kCsp5AZhw4aApSKEALw_wcB)
 Alternative:
 - Laser Scanner RPLidar A1: [RPLidar A1](https://de.aliexpress.com/item/12-mt-Lidar-RPLIDAR-A1-verbessert-360-grad-Lidar-Scannen-Im-Bereich-EINE-neue-verbesserte-version/32862806452.html?spm=a2g0x.search0104.3.2.7b59bf04YGt7RO&transAbTest=ae803_5&ws_ab_test=searchweb0_0%2Csearchweb201602_1_10320_10065_10068_318_10547_319_10548_10696_450_10084_10083_10618_452_535_534_10304_10307_533_10820_532_10821_5727311_10302_204_10843_5727211_10059_10884_10887_100031_10319_320_10103_448_449%2Csearchweb201603_2%2CppcSwitch_0&algo_pvid=622b8212-2b4b-484f-979e-0fab781315a0&priceBeautifyAB=0&algo_expid=622b8212-2b4b-484f-979e-0fab781315a0-0)
 - Laser Scanner RPLidar A2: [RPLIdar A2](https://de.aliexpress.com/item/Slamtec-RPLIDAR-A2-2D-360-grad-12-meter-scannen-radius-lidar-sensor-scanner-f-r-bstacle/32893709845.html?spm=a2g0x.search0104.3.2.57c8748fEgi3nC&transAbTest=ae803_5&ws_ab_test=searchweb0_0%2Csearchweb201602_1_10320_10065_10068_318_10547_319_10548_10696_450_10084_10083_10618_452_535_534_10304_10307_533_10820_532_10821_5727311_10302_204_10843_5727211_10059_10884_10887_100031_10319_320_10103_448_449%2Csearchweb201603_2%2CppcSwitch_0&algo_pvid=98320612-5189-4bf7-9049-efd4f4fba2c8&priceBeautifyAB=0&algo_expid=98320612-5189-4bf7-9049-efd4f4fba2c8-0)

Without a Lidar sensor the cost is about ~140€ . With a Lidar the cost
is about ~230€ - ???.

Datasheets for every component can be found under `/hardware`

#### Circuit Diagram
The Circuit Diagram is shown below to connect the individual components.
A pdf file is under `/circuit_diagram`

## Software

This Software is written in C++, build with [CMake](https://cmake.org/) and is divided in
`Remote-controlled` and `Autonomous driving` with different submodules:

### Remote-controlled:

#### RoboCar:

#### RoboControl:

#### RoboSLAM:

As first step build the hokuyo_node with subsequent commands: 
<pre><code>
sudo apt-get install ros-kinetic-driver-common
</pre></code>

Go into catkin workspace `~/catkin_ws/src` and clone hokuyo_node:
<pre><code>
git clone https://github.com/ros-drivers/hokuyo_node.git
</pre></code>

go back to `~/catkin_ws` and build:
<pre><code>
catkin_make
</pre></code>

Install hector_mapping and hector_trajectory_server:
<pre><code>
sudo apt-get install ros-kinetic-hector-mapping ros-kinetic-hector-trajectory-server
</pre></code>

**Launch file for hector_mapping and hector_trajectory_server**

launch file to start the `hokuyo_node`, the `hector_mapping` and the `hector_trajectory_server`
packages with the correct parameters can be found [here](https://github.com/bierschi/robo_car/blob/master/software/remote_controlled/roboslam/hokuyo_hector_slam.launch)

### Autonomous driving:

#### ROS drivers

Writing drivers to convert raw sensor data to ROS compliant message data:

Data topics:
- /visual/odom   &nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -> data from an odometry sensor/source (camera odometry)
- /imu/data      &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -> data from an inertial measurement unit (imu) sensor (mpu6050)
- /scan &nbsp;   &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; -> data  from a Laser scanner (hokuyo)
- /camera/data   &nbsp;&nbsp;&nbsp;&nbsp; -> data from a plugged in camera (picamera)

#### Sensor data fusion

In order to obtain the most accurate position, the data sources visual odometry, lidar odometry
and imu will be merged with an extended kalman filter

#### Create a correct transformation tree of the robot

#### Navigation stack

## Operating System
As operating system [Ubuntu Mate](https://ubuntu-mate.org/) was selected. Due to the reason
that currently no official raspberry pi 3b+ image is provided (25.10.2018), litte hacks are necessary to get
it running.
 
**Problem**: The Rasperry Pi 3b+ shows only a rainbow screen and will not boot

#### Instructions to install Ubuntu Mate for Raspberry Pi 3b+

1. Download Ubuntu Mate image for Raspberry Pi 2/3 [here](https://ubuntu-mate.org/download/)

2. Flash Ubuntu Mate image on sd card

3. Insert sd card into a **Raspberry Pi 2** or **Raspberry Pi 3**

4. Boot Raspberry Pi 2/3 and insert subsequent command for a kernel update

<pre><code>
sudo CURL_CA_BUNDLE=/etc/ssl/certs/ca-certificates.crt rpi-update
</pre></code>
alternative:
<pre><code>
sudo BRANCH=stable rpi-update
</pre></code>

5. Insert sd card into Raspberry Pi 3b+, now the raspi should start booting

6. No wifi is available!
 - Install a new [raspbian](https://www.raspberrypi.org/downloads/raspbian/) image on sd card
 - boot a raspberry pi with this sd card
 - copy folder `/lib/firmware/brcm` on a usb
 <pre><code>
 sudo cp -r /lib/firmware/brcm /path_to_usb
 </pre></code>
 - boot Raspberry Pi 3b+ with Ubuntu Mate
 - replace current `/lib/firmware/brcm` with the folder on usb stick
 <pre><code>
 sudo cp -r /path_to_usb/lib/firmware/brcm /lib/firmware/brcm
 </pre></code>

7. Reboot and wifi should be available

8. Enable ssh on boot. Insert in terminal:
<pre><code>
sudo systemctl enable ssh
</pre></code>

#### Instructions to install [ROS](http://www.ros.org/) on Ubuntu Mate

1. Setup sources.list
<pre><code>
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
</pre></code>
2. Setup keys
<pre><code>
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
</pre></code>
3. Update packages
<pre><code>
sudo apt-get update
</pre></code>
4. Install ros-kinetic-desktop-full
<pre><code>
sudo apt-get install ros-kinetic-desktop-full
</pre></code>
5. Initialize rosdep
<pre><code>
sudo rosdep init
</pre></code>
<pre><code>
rosdep update
</pre></code>
6. Setting up the ROS environment variables
<pre><code>
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
</pre></code>
<pre><code>
source ~/.bashrc
</pre></code>
7. Create a catkin workspace
<pre><code>
mkdir -p ~/catkin_ws/src
</pre></code>
<pre><code>
cd ~/catkin_ws/
</pre></code>
<pre><code>
catkin_make
</pre></code>
<pre><code>
source ~/catkin_ws/devel/setup.bash
</pre></code>
8. If you want access to source builded ros packages everywhere in your linux system
<pre><code>
echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
</pre></code>
9. Start roscore master
<pre><code>
roscore
</pre></code>

#### Add write permission to the hokuyo port /dev/ttyACM0

The hokuyo laser scanner needs write permission to the `/dev/ttyACM0` port to get scans.
For this add your current "user_name" to the `dialout` group.

<pre><code>
sudo adduser "user_name" dialout
</pre></code>

<pre><code>
sudo reboot
</pre></code>

#### Create a systemd service for roscore master

1. Create a file named `roscore.service` in `/etc/systemd/system` and insert:

<pre><code>
[Unit]
Description=start roscore master as a systemd service

[Service]
Type=simple
ExecStart=/bin/bash -c "source /opt/ros/kinetic/setup.bash; /usr/bin/python /opt/ros/kinetic/bin/roscore"

[Install]
WantedBy=multi-user.target
</pre></code>

2. Enable this service on boot
<pre><code>
sudo systemctl enable roscore.service
</pre></code>

3. Now the roscore master should be available on boot. Check status with:
<pre><code>
sudo systemctl status roscore.service
</pre></code>

#### Create a systemd service for hokuyo_hector_slam.launch file

1. Create a file named `hector.service` in `/etc/systemd/system` and insert:

<pre><code>
[Unit]
Description=start hokuyo_node and hector_mapping as a systemd service
Requires=roscore.service
After=roscore.service
After=network.target

[Service]
Type=simple
ExecStart=/bin/bash -c "source /opt/ros/kinetic/setup.bash; source /path_to_catkin_ws/devel/setup.bash; /opt/ros/kinetic/bin/roslaunch /path_to_launch_file/robo_car/software/remote_controlled/roboslam/hokuyo_hector_slam.launch"
Restart=on-failure

[Install]
WantedBy=multi-user.target
</pre></code>

Please **change** the `/path_to_catkin_ws`  and the `/path_to_launch_file` to your needs

2. Enable this service on boot
<pre><code>
sudo systemctl enable hector.service
</pre></code>

3. Now the this service should be available on boot. Check status with:
<pre><code>
sudo systemctl status hector.service
</pre></code>

#### Wiring Pi update

1. Check [WiringPi](http://wiringpi.com/) software with `gpio -v`

2. If errors occur, remove current wiring pi version
<pre><code>
sudo apt-get purge wiringpi
</pre></code>

3. Clone current wiring pi version from source and build
<pre><code>
sudo apt install git
</pre></code>
<pre><code>
git clone git://git.drogon.net/wiringPi
</pre></code>
<pre><code>
cd wiringPi
</pre></code>
<pre><code>
./build
</pre></code>

4. Check the new version of wiring pi
<pre><code>
gpio -v
</pre></code>
<pre><code>
gpio readall
</pre></code>

## Project Layout
<pre><code>
/circuit_diagram
 robocar_circuit_diagram.pdf

/hardware
    /chassis
    /motors
    /power_supply
    /raspberry
    /sensors
    README.md

/images
    circuit_diagram_robocar.png

/scripts
    README.md
    os_settings.sh
    ros_install.sh

/software
    /gui
        /build
        /images
        /include
            ClientSocket.h
            Socket.h
            SocketException.h
            mainwindow.h
        /src
            ClientSocket.cpp
            Socket.cpp
            mainwindow.cpp
            mainwindow.ui
        main_gui.cpp
        CMakeLists.txt
    /robocar
        /build
        /configs
        /include
            /car
                /bus
                    I2C.h
                /sensors
                    Camera.h
                    CameraServo.h
                    GearMotor.h
                    MPU6050.h
                    PCA9685.h
                    SteeringServo.h
                    Ultrasonic.h
                 Car.h
            /server
                /communication
                    ServerSocket.h
                    Socket.h
                    SocketException.h
                Server.h
            /slam
                SlamMap.h
        /src
            /car
                /bus
                    I2C.cpp
                /sensors
                    Camera.cpp
                    CameraServo.cpp
                    GearMotor.cpp
                    MPU6050.cpp
                    PCA9685.cpp
                    SteeringServo.cpp
                    Ultrasonic.cpp
                Car.cpp
            /server
                /communication
                    ServerSocket.cpp
                    Socket.cpp
                Server.cpp
            /slam
                SlamMap.cpp
        CMakeLists.txt
        robocar_main.cpp
    /testing
        client.cpp
        client.h
        gearmotor.py
        hokuyo_lidar.py
        main_client.cpp
        main_i2c.cpp
        main_server.cpp
        main_serversocket.cpp
        picamera_stream.py
        server.cpp
        server.h
        servomotor.py
        ultrasonic.py
    README.md
LICENSE
README.md

</pre></code>

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