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Raspberry Pi Robots and custom sensors.

asked 2016-12-07 08:39:18 -0500

burf2000 gravatar image

So I am extremely new to ROS, so apologies if this is this years worse question.

I have ROS installed on a Pi, which has a BrickPi shield (drives Lego motors). ROS works on the Pi as I can see my Neato Lidar data from it (pi is master with Lidar attached) I used rviz to see the Lidar data.

Aim: For the Pi to move around an area based on Lidar readings. The pi is mounted on a LEGO tracked platform (powered by the BrickPi) This can be controlled via Python

So, am I correct in thinking I need to build a BrickPi Python driver for ROS to use?

Then somehow model the robot in 3D for Rviz to display?

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answered 2016-12-07 14:49:24 -0500

Yes, I think you've got the gist of it. You would want to create a BrickPi_ROS package that handles the communication between ROS and the BrickPi. Here is an examples of a similar ros driver for a motor controller.

It would probably subscribe to a cmd_vel topic and publish encoder data if there is any

Then you may want to use a mapping package like gmapping to turn your LIDAR data into a occupancy map And a package like AMCL to figure out where you are in the map And then finally a package like move_base to navigate around autonomously.

Hope that helps

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Helps? thats freaking awesome mate. I will let you know how I get on, do you do much ROS yourself?

burf2000 gravatar image burf2000  ( 2016-12-08 03:14:39 -0500 )edit

Yes, I use ROS a lot at work :)

shoemakerlevy9 gravatar image shoemakerlevy9  ( 2016-12-08 10:29:33 -0500 )edit

Did you learn off the site or do you recommend anything?

burf2000 gravatar image burf2000  ( 2016-12-30 11:27:38 -0500 )edit

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Asked: 2016-12-07 08:39:18 -0500

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Last updated: Dec 07 '16