An Autonomous Robot That Fetches Objects
INFO The way I installed kinect for ROS https://bi.snu.ac.kr/Courses/4ai12s/Projects/KinectWithROSTutorial.pdf http://wiki.ros.org/openni_launch http://wiki.ros.org/openni_kinect Maybe http://wiki.ros.org/openni_camera https://richardstechnotes.wordpress.com/2015/11/22/using-the-kinect-and-ros-openni_camera-on-the-raspberry-pi-2/
Uses ROS Indigo
C++ Compiler, g++
g++ pkg-config opencv --cflags shaky_camera_HSV_BGR.cpp -o shaky_camera_HSV_BGR.out pkg-config opencv --libs -I/usr/local/include/opencvblobslib -L/usr/local/lib -lopencvblobslib -std=c++11
Gmapping demo commands roscore roslaunch chefbot_gazebo chefbot_hotel_world.launch roslaunch chefbot_gazebo gmapping_demo.launch roslaunch turtlebot_rviz_launchers view_navigation.launch roslaunch turtlebot_teleop keyboard_teleop.launch
For use of MPU6050 IMU https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 https://www.i2cdevlib.com/devices/mpu6050
Blog: http://royxingrobots.blogspot.com/
Hardware:
-Base, based on Qbotics' chefbot, turtlebot
-Xbox 360 Kinect sensor
-NTE966 12V 1A Voltage Regulator + 0.33μF and 0.1μF capacitors (for Xbox 360 Kinect sensor http://wiki.ros.org/kinect/Tutorials/Adding%20a%20Kinect%20to%20an%20iRobot%20Create)
-Tiva C Launchpad TM4C123G (for sensors input)
-Arduino Uno (for motor output)
-2x 131:1 Metal Gearmotor 37Dx73L mm with 64 CPR Encoder
-2x Pololu Stamped Aluminum L-Bracket Pair for 37D mm Metal Gearmotors
-Dual VNH2SP30 Motor Driver Carrier MD03A
-4x Logic Level Converter - Bi-Directional 3.3V 5V
-RioRand LM2596 DC-DC Buck Converter Step Down Module Power Supply Output 1.23V-30V
-GY-521 MPU-6050 3 Axis gyroscope
-Ultrasonic Module HC-SR04
-Turnigy 5000mAh 4S1P 14.8v 20C Hardcase Pack
-Arduino MEGA 2560 (for arm control)
-Arduino Servo and Sensor Shield v5.0
-MeArm Open Source Robotic Arm (laser cut wood) w/ 4x TowerPro SG90 9G Micro Servo
-Disassembled Frontech JIL- 2244 Webcam, (salvaged the camera module board w/o LEDs)
-standard electronics: wires (jumper, USB A to USB B, alligator (for battery to breadboard), etc.), breadboard, heatshrink, etc.