avatar_furo_getting_started
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avatar_furo_getting_started [2022/03/05 23:07] – [Parts] glee | avatar_furo_getting_started [2022/03/07 22:49] (current) – [Hardware Parts] glee | ||
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- | ===== Parts ===== | + | You can find further detailed information regarding configuring expansion headers from the site below: |
- | NVDIA Jetson Nano | + | |
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- | {{:akshay: | + | https:// |
- | RoboClaw motor Controller | ||
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- | *MD10C: https:// | ||
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- | **Initial Schematic** | ||
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===== Hardware Parts ===== | ===== Hardware Parts ===== | ||
- | *RoboClaw motor Controller: https://www.pololu.com/product/32 | + | **NVDIA Jetson Nano** |
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- | *MD10C: https:// | + | {{: |
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+ | User Manual: \\ | ||
+ | https:// | ||
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+ | More info: \\ | ||
+ | https:// | ||
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+ | **Wifi Module inside Jetson Nano** | ||
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+ | {{: | ||
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+ | Where you can buy: \\ | ||
+ | https:// | ||
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+ | How to install Wifi Module: \\ | ||
+ | https:// | ||
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+ | **RoboClaw motor Controller** | ||
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+ | {{:akshay: | ||
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+ | Data sheet: \\ | ||
+ | https://downloads.basicmicro.com/docs/roboclaw_datasheet_2x7A.pdf | ||
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+ | More info: \\ | ||
+ | https:// | ||
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+ | **MD10C | ||
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+ | {{:akshay: | ||
+ | \\ Where you can buy:\\ | ||
+ | https:// | ||
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+ | User Manual: \\ | ||
+ | https:// | ||
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+ | More info: \\ | ||
+ | https:// | ||
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+ | **Battery Pack for Jetson Nano** | ||
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+ | {{: | ||
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+ | Where you can buy: \\ | ||
+ | https:// | ||
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+ | **Step down Circuit board for Battery Pack** | ||
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+ | More info: \\ | ||
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+ | **Relays** | ||
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+ | {{: | ||
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+ | Heavy Duty Relays (KACON K730-2TR): \\ | ||
+ | https:// | ||
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+ | Mini Power Magnetic Relay (GSR GRM 4L 24V DC): \\ | ||
+ | http:// | ||
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+ | **Motor(Wheel)** | ||
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+ | DunkerMotor GR 53X30 | ||
+ | Product info: \\ | ||
+ | https:// | ||
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+ | **Motor (Head)** | ||
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+ | {{: | ||
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+ | Encoder Geared Motor KGE-0162 | ||
+ | Product info: \\ | ||
+ | http:// | ||
- | + | ===== Initial Schematic | |
- | + | {{ :akshay:jason_initial_schematic.png?600 |}} | |
- | ===== Software | + | |
- | ***Script Explanation/ | + | |
- | ***IMPORTANT: | + | |
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- | Step 1: roscore --> Roscore is nessessary for nodes to establish communication with each other. Rosmaster provides the naming and registration services to the nodes | + | |
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- | {{akshay:furo_1.png}} | + | |
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- | {{akshay: | + | |
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- | Step 2:rosrun joy joy_node --> This script convert joy stick value to digital value; thus we can use to program | + | |
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- | {{akshay: | + | |
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- | Step 3: rosrun learning_joy furo --> This script is a topic that is both a publisher as well as subscriber at the same time. Obtaining value from joy stick, converting it to a float data type, and passes on to the motor controller. | + | |
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- | {{akshay: | + | |
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- | Step 4: roslaunch roboclaw_node roboclaw.launch --> This script is use to control the wheel of Furo | + | |
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- | {{akshay: | + | |
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- | Step 5: rosrun head_motor finalheadmotor.py --> This Script grant access to Furo's head mobility. | + | |
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- | {{akshay: | + | |
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- | Step 6: rosrun facedetect findface_publisher.py -->This Script grant access to Furo's head camera and track operator face | + | |
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- | {{akshay: | + | |
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- | Step 7: rosrun head_motor face_tracks.py --> This Script allows Furo to mimics the operator' | + | |
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- | {{akshay:head_motor_face_tracks.png}} | + | |
avatar_furo_getting_started.1646550445.txt.gz · Last modified: 2022/03/05 23:07 by glee