timda-mobile

2020 Designed

Hardwares Description

Item	Item Model	Vendor	Description
Motor	BLVM620KM	Orientalmotor	Weight: 6kg Power: 200W Constant Torque: 0.65Nm Constant Speed: 3000rpm
Controller	BLVD20KM	Orientalmotor
Mecanum wheel			6 inch

Systems

OS: Ubuntu 18.04 bionic ROS: Melodic

Installization and Setup

Clone this repo and submodules

$ cd $HOME
$ mkdir -p timda_mobile_ws/src && cd timda_mobile_ws
$ git clone https://github.com/tku-iarc/timda-mobile.git src/ --recursive

Requirements

ROS Dependments:

$ sudo apt-get install ros-melodic-hector-sensors-description
$ sudo apt-get install ros-melodic-rosbridge-server ros-melodic-hector-slam ros-melodic-amcl ros-melodic-move-base ros-melodic-dwa-local-planner ros-melodic-map-server ros-melodic-teb-local-planner
## Hokuyo UTM30LX driver
$ sudo apt-get install ros-melodic-urg-node

Controller needs libbmodbus, please check out mecanum

Setup WoL client, we use raspberry pi 3 to send WoL signal to Intel NUC. Please check out ping-pong client if needs.

There are udev files for hardware devices like Hokuyo lidar or RS485 adapter. Please check out udev_rules and systemd if needs.

We use nodeJS to setup http server. Please check out webserver to install dependencies.

Build

$ cd $HOME/timda_mobile_ws
$ catkin_make