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MicroROS-Pi5📖
01. Introduction
  • 0.Unpacking and reviewing video
  • 1. ReadMe - learning route
  • 2. Introduction to lidar
  • 3. Introduction to microROS control board
  • 4. FAQ
  • 5. About charging
02. Assembly course
  • Assembly steps
03. Preparation
  • First Trial
  • 1. Write firmware
  • 2. MicroROS control board parameter configuration
  • 3. Connect to MicroROS agent
  • 4. Connect to WIFI in hotspot mode
04. Quick start control course
  • 1. Self start handle control
  • 2. Close the self-starting handle control process
  • 3. Quick start keyboard control
  • 4. Map navigation and APP control
05. Robot basic course
  • 1. Robot information release
  • 2. Robot keyboard control
  • 3. Robot handle control
  • 4. Robot state estimation
  • 5. Linear speed calibration
  • 6. Angular velocity calibration
  • 7. Robot URDF model
06. ROS+OpenCV course
  • 1. Getting started with Opencv CV
  • 2. Geometric transformation
  • 3. Image processing and drawing
  • 4. Open Source CV image beautification
  • 5. QR code creation and recognition
  • 6. AR vision
  • 7. ROS+Opencv application
07. Mediapipe course
  • 1. Hand detection
  • 2. Posture detection
  • 3. Overall detection
  • 4. Face detection
  • 5. Face recognition
  • 6. Face effects
  • 7. 3D object recognition
  • 8. Brush
  • 9. Finger control
  • 10 .Gesture recognition
08. Robot visual interaction
  • 1. Monocular camera calibration
  • 2. Color tracking
  • 3. Object recognition and tracking
  • 4. Face recognition tracking
  • 5. Autonomous driving line patrol
  • 6. QR code motion control
  • 7. Gesture control of basic movement of the car
  • 8. Control the car movement with your palm
  • 9. Gesture control car action group
  • 10. Palm control of the two-dimensional gimbal servo
09. Lidar course
  • 1. Lidar avoid
  • 2. Lidar following
  • 3. Lidar guard
  • 4. Lidar patrol
  • 5. Gmapping mapping
  • 6. Cartographer mapping
  • 7. Navigation2 navigation avoid
  • 8. ROS Robot APP mapping
  • 9. ROS Robot APP navigation
10. Multi-machine course
  • 1. Multi-machine handle control
  • 2. Multi-machine keyboard control
  • 3. Multi-machine navigation
11. Linux basic course
  • 1. Introduction to Linux system
  • 2. Ubuntu file system
  • 3. Ubuntu common commands
  • 4. Ubuntu common editors
  • 5. Ubuntu software operation commands
  • 6. Virtual machine installation
  • 7. SSH remote control
  • 8. VNC remote control
  • 9. Transfer files remotely
  • 10. Driver library and communication
  • 11. Static IP and hotspot mode
  • 12. Bind device ID
  • 13. Capacity expansion and resource allocation
  • 14. Update system software sources
  • 15. Set root user password
  • 16. sudo free password
  • 17. Connect to WiFi network
  • 18. View system version
  • 19. Customized service management
  • 20. Back up system image
12. RPi basic setting course
  • 1. Update and upgrade operating system
  • 2. Introduction to raspi-config tool
  • 3. config.txt file description
  • 4. Network Configuration
  • 5. remote access
  • 6. Transfer files remotely
  • 7. Set display resolution and rotation
  • 8. Set screen to sleep
  • 9. Get real-time temperature of Raspberry Pi
  • 10. Play audio and video
  • 11. Using USB camera
  • 12. Using MIPI camera
13. Docker course
  • 1. Overview and installation
  • 2. Common commands
  • 3. Docker images deeply understand and publish images
  • 4. Docker hardware interaction and data processing
  • 5. Enter the robot's docker container
14. ROS2 basic course
  • 1. Introduction to ROS2
  • 2. ROS2 install Humble
  • 3. ROS2 development environment
  • 4. ROS2 workspace
  • 5. ROS2 function package
  • 6. ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
15. microROS control board development environment
  • 1. Introduction to microROS control board
  • 2. Set up ESP32-IDF development environment
  • 3. ESP32-IDF configuration tool
  • 4. Install ESP32-microros components
  • 5. Install and start microROS agent
  • 6. Flash-tool burning firmware
16. ESP32 basic course
  • 1. Turn on the LED light
  • 2. Button function
  • 3. Drive the buzzer
  • 4. Serial communication
  • 5. Battery voltage detection
  • 6. Drive PWM servo
  • 7. Drive motor
  • 8. Read motor encoder data
  • 9. PID controls car speed
  • 10. Read IMU data
  • 11. Read radar data
  • 12. Flash access data
  • 13. Partition table and memory
  • 14. Bluetooth communication
  • 15. WiFi networking
  • 16. Robot kinematics analysis
  • 17.ROS-WiFi camera module
17. microROS basic course
  • 1. Publish topic
  • 2. Subscribe topic
  • 3. Multi-topic subscribe and publish
  • 4. Subscribe buzzer topics
  • 5. Subscribe PWM servo topics
  • 6. Subscribe speed control topics
  • 7. Release speed topic
  • 8. Release IMU data topic
  • 9. Publish lidar data topics
  • 10. Customized transmission method
Download
  • Mapping_APP(iOS_Android)
  • Source code
  • Hardware information
  • VM image file
  • RPi5 imgae file
  • Instruction Manual
  • 3D Model File
  • ROS2_Basic_VM
Download ZIP
FAQ
  • 1、1.USB camera abnormal termination

Welcome to MicroROS-Pi5 repository

当製品の日本語版マニュアル資料は、こちらからご取得ください。

1. Introduction to microROS control board

Introduction to microROS control board

The microROS control board is a lightweight ROS2 driver controller and an ESP32S3 dual-core development board. The board integrates important peripherals such as the ESP32S3 core module control unit, motor driver, steering gear driver, and six-axis IMU attitude sensor.It supports WiFi, Bluetooth, serial port and other communication functions, supports four encoder motors, two PWM servos and one laser radar. It also has a PD power supply powered by Raspberry Pi 5. The peripheral driver firmware comes with the factory, and users can directly access the ROS2 environment for use. It is convenient to operate, simple and efficient to use.

 

Onboard resource description

image-20240118173109110

Battery power supply interface: Connect a 7.4V battery (T-shaped interface) to power the robot.

Battery charging interface: Connect the DC8.4V charger to charge the robot.

Power switch: main power switch of the robot.

Reset button: The reset button of the ESP32S3 control chip.

Radar interface: connect to MS200 laser radar.

Type-C serial port: used for burning firmware, configuring parameters, serial communication and other functions.

Power indicator light and MCU indicator light: indicate the current status of the product.

BOOT button: The BOOT button of the ESP32S3 control chip can also be used as a custom button.

Custom buttons: GPIO of ESP32S3 control chip, programmable custom functions.

Motor interface: connect to 310 encoder motor.

Antenna interface: connect external antenna.

ESP32S3 control chip: The main control chip of the microROS control board, which is responsible for managing all peripheral functions on the board.

Six-axis IMU chip: Provides the current attitude information of the robot.

PWM servo interface: used to connect two PWM servos.

Type-C power supply interface: Connect to the Type-C interface of Raspberry Pi 5 to power Raspberry Pi 5.

Buzzer: active buzzer, used for low voltage alarm prompts.

 

GPIO pin assignments

image-20240116111340661

Peripheral nameESP32-S3-GPIO
Motor M1-PWM-M1AGPIO4
Motor M1-PWM-M1BGPIO5
Motor M1-Encoder-H1AGPIO6
Motor M1-Encoder-H1BGPIO7
Motor M2-PWM-M2AGPIO15
Motor M2-PWM-M2BGPIO16
Motor M2-Encoder-H2AGPIO47
Motor M2-Encoder-H2BGPIO48
Motor M3-PWM-M3AGPIO9
Motor M3-PWM-M3BGPIO10
Motor M3-Encoder-H3AGPIO11
Motor M3-Encoder-H3BGPIO12
Motor M4-PWM-M4AGPIO13
Motor M4-PWM-M4BGPIO14
Motor M4-Encoder-H4AGPIO1
Motor M4-Encoder-H4BGPIO2
BOOT button-IO0GPIO0
Custom buttons-KEY1GPIO42
Battery voltage detection-BATGPIO3
MCU indicator light-LEDGPIO45
BuzzerGPIO46
Servo interface-S1GPIO8
Servo interface-S2GPIO21
IMU interruption-INTGPIO41
IMU-I2C-SCLGPIO39
IMU-I2C-SDAGPIO40
Radar RX-serial port 1-TXD1GPIO17
Radar TX-serial port 1-RXD1GPIO18
TypeC flash serial port RX-TXD0GPIO43
TypeC flash serial port TX-RXD0GPIO44

 

ROS2 TF2 coordinate transformation
Set up ESP32-IDF development environment

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