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RPI 3 controlled robot and ROS

asked 2016-08-14 16:44:15 -0500

MuratAhmetGenc gravatar image

I have a pan tilt head, video cam, sound visualizer, microphones, speakers, some other sensors; all connected to an Raspberry Pi 3. how can I make this simple robot ROS compatible? is there such thing? How can I use ROS on this robot? my point is that I want to learn ROS using this home-made robot. do you think it's possible? best -murat

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answered 2016-08-15 11:05:49 -0500

Mark Rose gravatar image

You can run ROS on the RPi. If your hardware is all custom, then you'll probably have to spend some time learning how to write ROS nodes to read sensor values and publish them, and also to listen on topics to desired actuator positions and command the servos. And you'll probably want to learn some OpenCV to interact with the camera. All of this is doable. It depends on your goals, though. There is sizeable amount of off-the-shelf code in ROS for dealing with navigation. If your robot does not move, then you might be getting less out of ROS than otherwise.

That said, the main benefit to ROS is the ability to decouple the various pieces of code controlling your robot through ROS's loosely-coupled messaging framework. There is a sizeable learning curve, though, so you have to invest some time before you see the benefits.

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I see. thanks Mark.

MuratAhmetGenc gravatar image MuratAhmetGenc  ( 2016-08-15 16:27:54 -0500 )edit

I probably also shortchanged ROS a little because I did not mention moveit, a motion planning framework which has been integrated with ROS. I don't have experience with moveit, but I have heard it is CPU-intensive, which might be iffy on the RPi. YMMV

Mark Rose gravatar image Mark Rose  ( 2016-08-16 11:16:28 -0500 )edit

And I don't want you to get the impression that all of this will be custom nodes. Depending on your hardware, you may be able to find existing ROS nodes for sensors and actuators. My robot has an Arduino as well, so I use ros_arduino_bridge to publish sensors and respond to motion messages.

Mark Rose gravatar image Mark Rose  ( 2016-08-16 11:18:02 -0500 )edit

I think I will study all the tutorials on the official site and understand the logic first. I'm assuming that I can use a simulator without using an actual robot first. if not,I have access to a ROS compatible robot, I'm going to work on it. then, once I got enough knowledge, I'll work on my own.thx

MuratAhmetGenc gravatar image MuratAhmetGenc  ( 2016-08-18 02:54:22 -0500 )edit

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Asked: 2016-08-14 16:44:15 -0500

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Last updated: Aug 15 '16