ESP32 Based ROS Mobile Robot

Introduction

This repository is based on the course on mobile robotics interface with ROS Noetic

Table of Contents

1. About This Repository
2. Using this Repository
3. Features
4. Pre-Course Requirments
5. Link to the Course
6. Instructors
7. License

About this Repository

We will start with installation of Rosserial Package installation into our system . Which is going to be utilized for ESP32 and ROS Communication

• esp_src : Contains scripts for esp32 microcontroller
• src : contains scripts of nodes basedon ROS1
• notes : Contains all lecture notes taught during the course

Source Codes and lectures are arranged with the following Order

- **Section 1:** Basic ROS - ESP32 Interfacing
    - Led Toggling
    - Ultrasonic Sensor controlling Turtlesim
- **Section 2:** ROS based Car driving
    - Motor Controlling
    - cmd_vel to Pwm Serial
    - Car Control over Wifi
- **Section 3:** Robot car and ROS services
    - Encoders interfacing
    - ROS Service Nodes
    - Drove robot through Services on Time.
- **Section 4:** Odometery publishing Car Driving
    - Encoders ticks profiling
    - Odom differential Drive Rviz
    - transforms

Using this Repository

• Clone the repository in you Workspace

mkdir -p ~/catkin_ws/src ## if not already created
cd ~/catkin_ws/src
git clone https://github.com/noshluk2/ROS-ESP32-Mobile-Robotics.git

• Source your ROS installation

source /opt/ros/noetic/setup.bash

• Build your workspace

cd ~/catkin_ws
catkin_make

• Source your Workspace in any terminal you open to Run files from this workspace ( Basic thing of ROS )

source ~/catkin_ws/devel/setup.bash

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Features

• TurtleSim Obstical Avoiding using real World Sensor

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• Encoders Publishing Node from ESP32

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• Robot Driving over WiFi using teleOp package

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• ROS Service for Encoder Ticks Calculation

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• Transforms and Odometery of Robot to Rviz

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Pre-Course Requirments

Hardware Requirments

• ESP32
• Robotic Car Kit
• Battery and Charger
• Ultrasonic Sensor
• Motor Driver ( L298D)
• Jumper Wires

Software Based

• Ubuntu 20.04 (LTS)
• ROS2 - Foxy Fitzroy
• Python 3.6
• Arduino Ide
• Vscode

Skill Based

• Basic C++ and Python Programming
• Basic ROS1 Nodes Communication
• Launch Files
• Motivated mind :)

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Link to the Course

[Discounted Link]

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Instructor

Muhammad Luqman (ROS Simulation and Control Systems) - Profile Link

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License

Distributed under the GNU-GPL License. See LICENSE for more information.