534o / roomblock

Roomblock

Roomblock is a robot platform consists of a Roomba, a Raspberry Pi 2, a RPLIDAR A2 and a mobile battery. It is good for the learning of the ROS navigation system.

Hardware

Roomba

Roomba 500, 600 and 700 series are available.

Raspberry Pi

Raspberry Pi 2 Model B is required.

Raspberry Pi 3 has not beconfirmed yet.

Wifi dongle

• Wifi dongle
• Wifi dongle with antena

http://denshikousaku.net/fix-sluggish-response-of-raspberry-pi-wifi-adaptor https://ubuntuforums.org/showthread.php?t=2282336 http://l-w-i.net/t/ubuntu/wifi_001.txt

USB serial cable

This cable should be very handy.

http://akizukidenshi.com/catalog/g/gM-05841/

Frame

3D printable data are available in doc/stl directory.

Install

Download the image file from https://wiki.ubuntu.com/ARM/RaspberryPi#Raspberry_Pi

$ unxz ubuntu-16.04.2-preinstalled-server-armhf+raspi2.img.xz
$ dd bs=4M if=ubuntu-16.04.2-preinstalled-server-armhf+raspi2.img of=<dev file of SD card>

Clone roomblock source code:

$ git clone https://github.com/tork-a/roomblock.git
$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make

Rasberry PI camera setup

$ apt download libraspberrypi-dev
$ sudo dpkg -i --force-overwrite libraspberrypi-dev.deb
$ git clone https://github.com/UbiquityRobotics/raspicam_node.git
$ catkin_make