This is a lower computer example for the Waveshare UGV robots with ROS Driver: UGV Rover, UGV Beast, RaspRover, UGV02*.
*The old version of UGV02 is driven by General Driver.
The Waveshare UGV robots utilize both an upper computer and a lower computer. This repository contains the program running on the lower computer, which is typically a ESP32 on ROS Driver for Robots.
The program running on the lower computer is either named ugv_base_ros or ugv_base_general depending on the type of robot driver being used.
The upper computer communicates with the lower computer (the robot's driver based on ESP32) by sending JSON commands via GPIO UART. The host controller, which employs a Jetson Orin or a Raspberry Pi based on the type of upper computer being used, handles AI vision and strategy planning, while the sub-controller, utilizing an ESP32, manages motion control and sensor data processing. This setup ensures efficient collaboration and enhanced performance.
- Closed-loop Speed Control with PID
- Web App Based on ESP32
- IMU
- OLED Screen
- LED Lights(12V switches) Control
- Control via JSON Commands
- Supports Camera PT
- Supports RoArm-M2
- Control and Communicate via ESP-NOW
You need to install Arduino IDE and ESP32 Board first.
Copy SCServo folder into C:\Users\[username]\AppData\Local\Arduino15\libraries\
Install libraries with Library Manager: ArduinoJson, LittleFS, Adafruit_SSD1306, INA219_WE, ESP32Encoder, PID_v2, SimpleKalmanFilter, Adafruit_ICM20X, Adafruit_ICM20948, Adafruit_Sensor
You can send JSON command to robot via UART/USB@115200 or Http Request/Web App.
To ensure compatibility with various types of robots. You can configure the robot by entering the following command:
{"T":900,"main":2,"module":2}
In this command, the s directive denotes a robot-type setting. The first digit, 2, signifies that the main type of robot is a UGV Rover, with 1 representing RaspRover and 3 indicating UGV Beast. The second digit, 2, specifies the module as Camera PT, where 0 denotes Nothing and 1 signifies RoArm-M2.
ugv_base_ros for the Waveshare UGV Robots: an open source robotics platform for the Robots based on ROS Driver. Copyright (C) 2024 Waveshare
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/gpl-3.0.txt.