ericboehlke / camelot

Assistive Transport Robot

Camelot

Assistive Transport Robot

This branch is a collection of ROS2 packages containing the source code for Camelot.

Raspberry Pi Setup

Initial setup

• Flash Ubuntu Server 20.04 on to the SD card
• Connect via Ethernet to router in Hotspot Router mode
• sudo apt update && sudo apt upgrade

Installing ROS2

• Use these instructions: https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html

Setting up I2C for the OLED

• Connect OLED to I2C pins
• sudo apt install i2c-tools python3-pip
• Following this guide: https://learn.adafruit.com/monochrome-oled-breakouts/python-setup
• sudo pip3 install --upgrade setuptools
• sudo pip3 install adafruit-blinka
• sudo pip3 install adafruit-circuitpython-ssd1306
• Run the OLED program with sudo python3 oled.py
• To run on startup add @reboot /home/ubuntu/oled.py to the root crontab

Connecting to motor controller via UART

• Helpful link: https://www.raspberrypi.org/documentation/configuration/uart.md
• Stackoverflow instructions for enabling UART on Ubuntu for Raspberry Pi: https://askubuntu.com/questions/1254376/enable-uart-communication-on-pi4-ubuntu-20-04