Presentation

Project for the french cup of robotic 2020.

Link to the website of the Competition

This ROS stack includes an Arduino library and a collection of ROS packages for controlling an Arduino-based robot using standard ROS messages and services.

Features of the stack include:

• Controller Speed and Position using ROS PID
• Control servo motor
• Direct support for Ping sonar
• GUI Interface for debugging the robot

TODO Season 2020 :

• Sensor TOF Implementation
• ROS implementation
• Better controller PID
• Arduino --> STM32
• News motors : Faulhaber 2232SR

Robot 2018 / 2019 :

CAD	Real World Robot

(CAO by Johny Lin)

Hardware :

• Pololu VNH5019
• Faulhaber 2642 cxr motor
• Rotary encoder kubler
• Nucleo ESP32
• Teensy 3.5
• Raspberry Pi 4
• Sensor TOF (future implementation in this repository)

Installation Guide (Work in progress)

First you need Ubuntu 16.04 (Ubuntu Mate 16.04 on the Raspberry Pi 3) with Ros Kinetic : ROS kinetic

    $ git clone https://github.com/leonard-de-vinci/DaVinciBot-FrenchRoboticsCup-2020.git
    $ cd DaVinciBot-FrenchRoboticsCup-2020/cdr_robot_ws/
    $ catkin_make

To launch the ros node pid quickly:

     $ cd DaVinciBot-FrenchRoboticsCup-2020/cdr_robot_ws/
     $ source devel/setup.bash
     $ roslaunch deplacement base.launch

More about the project :

Video of the cup 2019

Association (Project team of this competition 12 Members)