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| # nodemcu-ros-car | ||
| This code is intended to control a differential drive robot via ROS Twist messages using a NodeMcu or ESP8266. The car will respond to __Twist.linear.x__ and __Twist.angular.z__ values. If you have questions or improvements email me at [email protected] | ||
| # Control software for differential drive smart car chassis using a NodeMcu, Arduino and the Robot Operating System (ROS) | ||
| This software is intended to control a 4 wheel differential drive robot via [ROS](https://www.ros.org/) messages using a NodeMcu or ESP8266. The software will respond to [geometry_msgs/Twist](https://docs.ros.org/api/geometry_msgs/html/msg/Twist.html) messages (precisely __Twist.linear.x__ and __Twist.angular.z__) and generate [PWM](https://en.wikipedia.org/wiki/Pulse-width_modulation) signals accordingly. Programmed with [Arduino](https://www.arduino.cc/) and the [ESP8266 Core](https://github.com/esp8266/Arduino). If you have questions or improvements create a new issue [here](https://github.com/Reinbert/ros_diffdrive_robot/issues). | ||
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| ## Parts needed: | ||
| - Smart car chassis with at least 1 motor on each side, like this: [Smart car chassis 4WD](https://www.aliexpress.com/item/Smart-car-chassis-4WD-4-wheel-drive-force-the-chronological-magnetic-motor-With-code-disc-tachometer/32622219972.html?spm=a2g0s.9042311.0.0.27424c4djmBIqw) | ||
| - [NodeMCU](https://en.wikipedia.org/wiki/NodeMCU) (I'm using version 1.0) | ||
| - [NodeMCU](https://en.wikipedia.org/wiki/NodeMCU) (I'm using version 1.0, but v3 is out already) | ||
| - L298N motor driver like this: [L298N](https://www.aliexpress.com/item/L298N-Module-Dual-H-Bridge-Stepper-Motor-Driver-Board-Modules-for-Arduino-Smart-Car-FZ0407-Free/1761850243.html) | ||
| - Battery pack or other energy source. (I use 8x 1.2 Volt rechargable batteries) | ||
| - Cables | ||
| - Wifi | ||
| - Breadboard jumper wires | ||
| - Linux workstation to run ROS | ||
| - Wifi access point (or use the access point from the NodeMcu) | ||
| - Gamepad (optional) | ||
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| ## Software: | ||
| - Arduino IDE | ||
| - Robot Operating System [http://www.ros.org/](http://www.ros.org/) | ||
| - [Arduino IDE](https://www.arduino.cc/en/Main/Software) | ||
| - [Robot Operating System](http://www.ros.org/) | ||
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| ## Connections: | ||
| - Battery (+) to L298N +12V or VCC | ||
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@@ -30,21 +32,23 @@ This code is intended to control a differential drive robot via ROS Twist messag | |
| - L298N OUT1&2 to left motor (connect in parallel if >1) | ||
| - L298N OUT3&4 to right motor (connect in parallel if >1) | ||
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| ## ROS Installation: | ||
| - Install and configure ROS if you haven't done so yet ([Installation Tutorial](https://wiki.ros.org/ROS/Installation)). I'm using Kinetic Kame on Ubuntu 16.04, but feel free to change the following terminal commands to your version. | ||
| - Install [rosserial_server](https://wiki.ros.org/rosserial_server) via terminal: `sudo apt install ros-kinetic-rosserial-server` | ||
| - Install [teleop_twist_keyboard](https://wiki.ros.org/teleop_twist_keyboard) `sudo apt install ros-kinetic-teleop-twist-keyboard` | ||
| - Or if you have a gamepad install [teleop_twist_joy](https://wiki.ros.org/teleop_twist_joy): `sudo apt install ros-kinetic-joy ros-kinetic-teleop-twist-joy` | ||
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| ## Arduino IDE: | ||
| - Go to "Sketch/Include Library/Manage Libraries...", search for "ESP8266" and install that library | ||
| - Use the same method to install library "rosserial" or follow this tutorial: [Arduino IDE Setup](http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup) | ||
| - Insert your own Wifi SSID and password into [nodemcu-ros-car.ino](https://github.com/Reinbert/nodemcu-ros-car/blob/master/nodemcu-ros-car.ino) | ||
| - Go to _"Sketch/Include Library/Manage Libraries..."_, search for _"ESP8266"_ and install that library. | ||
| - Use the same method to install library _"rosserial"_ or if that doesn't work follow this [tutorial](https://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup). | ||
| - If you want to use your own Wifi remove the line containing `#define ACCESS_POINT_SSID "SMARTCAR"` and add your own Wifi credentials into `setupWiFi()` | ||
| - Find out the IP address of the computer you intend to use as the ROS serial server and change `IPAddress server(192, 168, 4, 2);` accordingly. (You may need to connect to the `SMARTCAR` Wifi network first if you are using access point mode.) | ||
| - If you are using a different micro controller than the NodeMcu v1.0 find out what its highest possible PWM value is and change 'MAX_PWM' and 'MIN_PWN' accordingly. (Max PWM on Arduino is 255, while on a NodeMcu it's 1023) | ||
| - Flash [nodemcu-ros-car.ino](https://github.com/Reinbert/nodemcu-ros-car/blob/master/nodemcu-ros-car.ino) onto the NodeMcu | ||
| - Flash _nodemcu-ros-car.ino_ onto the NodeMcu | ||
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| ## ROS Installation: | ||
| - Install and configure ROS if you haven't done so yet. I'm using Kinetic Kame on Ubuntu 16.04. [Installation Tutorial](http://wiki.ros.org/ROS/Installation) | ||
| - Install [rosserial_server](http://wiki.ros.org/rosserial_server) via terminal: `sudo apt-get install ros-kinetic-rosserial-server` | ||
| - Install [teleop_twist_joy](http://wiki.ros.org/teleop_twist_joy) if you have a gamepad: `sudo apt-get install ros-kinetic-teleop-twist-joy` or | ||
| - Use the keyboard teleop [teleop_twist_keyboard](http://wiki.ros.org/teleop_twist_keyboard) `sudo apt-get install ros-kinetic-teleop-twist-keyboard` | ||
| ## ROS Operation: | ||
| - Launch rosserial socket node: `roslaunch rosserial_server socket.launch` | ||
| - Launch gamepad node in a new terminal: `roslaunch teleop_twist_joy teleop.launch joy_config:="insert gamepad type"` or | ||
| - Launch gamepad node in a new terminal: `roslaunch teleop_twist_joy teleop.launch joy_config:=__insert gamepad type__` or | ||
| - Keybord node: `rosrun teleop_twist_keyboard teleop_twist_keyboard.py` | ||
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| This should suffice to make the robot car connect to your Wifi and rosserial server and follow twist commands from your gamepad. | ||
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@@ -62,19 +66,19 @@ source devel/setup.bash | |
| ```sh | ||
| roslaunch teleop_joy_race teleop.launch | ||
| ``` | ||
| Launch teleop AND a rosserial socket at the same time. You don't need to call `roslaunch rosserial_server socket.launch` anymore: | ||
| Launch teleop AND a rosserial socket at the same time. With this you don't need to launch a [rosserial_server](https://wiki.ros.org/rosserial_server) in a second terminal: | ||
| ```sh | ||
| roslaunch teleop_joy_race teleop_serial.launch | ||
| ``` | ||
| Disable deadman button. USE AT YOUR OWN RISK! | ||
| Disable deadman button. Only intended for toy cars. USE AT YOUR OWN RISK! | ||
| ```sh | ||
| roslaunch teleop_joy_race teleop.launch enable_deadman:=false | ||
| roslaunch teleop_joy_race teleop_serial.launch enable_deadman:=false | ||
| ``` | ||
| ## Troubleshooting: | ||
| - Open Serial Monitor in Arduino IDE and check for Wifi and ROS connection output. | ||
| - The LED on the NodeMcu should turn on (only) if its connected to both Wifi and ROS. | ||
| - [teleop_twist_joy](http://wiki.ros.org/teleop_twist_joy) uses an enable (deadman) button which needs to be pressed while using the gamepad. Find out which one in the [config](https://github.com/ros-teleop/teleop_twist_joy/tree/indigo-devel/config). | ||
| - [teleop_twist_joy](https://wiki.ros.org/teleop_twist_joy) and [teleop_joy_race](https://github.com/Reinbert/teleop_joy_race) use an enable (deadman) button which needs to be pressed while using the gamepad. Find out which one in the [config](https://github.com/ros-teleop/teleop_twist_joy/tree/indigo-devel/config). | ||
| - Test gamepad with `jstest /dev/input/js0` | ||
| - Make sure the teleop node is outputting commands: `rostopic echo /cmd_vel` | ||
| - If the LED on the L298N isn't lit, then the batteries aren't connected properly or the jumper for the 5V regulator isn't placed. | ||
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@@ -86,5 +90,7 @@ The cables and battery packs are a little bit whacky, but it's sufficient for th | |
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| #### NodeMcu GPIO pins | ||
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| #### Example L298N motor driver | ||
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