SoKoRo-MobileTankControl

source code on jetson nano to control the mobile tank

checkout and run

• runs on an Nvidia Jetson Nano Board
• local repository should run within the catkin workspace of the device (name="ros_ws" -> ros_ws/src)
• features an implementation in cpp and python to control the motors and do the ROS-communication
• connected GPIO-PINS are: [ENA = 33, IN1 = 35, IN2 = 37, ENB = 38, IN3 = 32, IN4 = 36] (directly connect to motor driver L298N)
• compile and run the cpp-file or start main.py

tank general infos

• the tank may be loaded with up to 10kg weight
• the tank my be controlled using a ROS-publisher
• the tank currently executes the move-commands without any safety guarantee
• we currently only use the python implementation, cpp works but is not used anywhere

steps for first installation

• install Ubuntu and ROS
• create a catkin workspace (see the steps below)
• clone this repository into the workspace's src directory
• clone other, required repositories into the src directory
• [OPTIONAL] execute "rosdep install -i --from-paths src" from the workspace to install ROS dependencies
• [OPTIONAL] execute "catkin_make" from the workspace to build all packages in the workspace

steps to create the catkin workspace with ROS

1. mkdir –p ~/catkin_ws/src
2. cd ~/catkin_ws/src
3. catkin_init_workspace
4. cd ~/catkin_ws/
5. catkin_make
6. source ~/catkin_ws/devel/setup.bash
7. echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
8. catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

start with

"rosrun motor_control motor_control.py"

access with

• package_name = "motor_control"
• IP-Address: "192.168.48.32"
• to check for connectivity try steps: http://wiki.ros.org/ROS/NetworkSetup