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Hi qdsang, thanks for your interest!
Unfortunately, there are no hardware-related documentation jet, since this is still a prototype. However, I can suggest you try the following configuration:
- Raspberry Pi using Ubuntu Mate and ROS (i.E. https://www.intorobotics.com/how-to-install-ros-kinetic-on-raspberry-pi-3-ubuntu-mate/)
- Connect IMUs (leaning and steering (optional) angle): we have two BNO055 + serial-USB converter. (https://learn.adafruit.com/bno055-absolute-orientation-sensor-with-raspberry-pi-and-beaglebone-black/overview)
- Install a nano router or access point to enable wireless access to raspberry (i.E. https://www.tp-link.com/us/products/details/cat-9_TL-WR802N.html)
- We use two GPS receivers connected using serial-USB converter to raspberry.
- We use an arduino to read pulses from wheel encoder and altitude from barometer. Then, use rosserial (http://wiki.ros.org/rosserial_arduino) to publish data using USB connection.
Finally, add a power bank and be patient by debugging. : )
If you have additional questions, you can send an email francisc0garcia [at] hotmail.com
Best regards,
Francisco
from autonomous_bicycle.
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