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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。

First Trial

MicroROS-Pi5：First Trial

MicroROS-Pi5：First Trial一、joystick controlStart the carjoystick control2. Remote controlVNC Remote: Windows Remote Desktop ConnectionVNC installationVNC connectionTurn off the auto-start handle control after power onTemporarily closedpermanently closed3. Keyboard control carStart and connect to the agentEnter dockerView ROS nodesStart keyboard control4. Autonomous driving line patrolStart and connect to the agentEnter dockerStart autonomous driving line patrolselected routeStart patrolling

This tutorial is just a simplified version, mainly paired with quick-start videos!

After receiving the product, install the car according to the assembly tutorial, and connect the Type-C data cable, handle receiver and USB camera.

一、joystick control

Start the car

Turn on the power switch and the car will start for about 30 seconds. You can press the START button on the handle. If the buzzer of the car makes a beep sound, it means that the handle can be used to control it.

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If there is no buzzer sound, it may be that the MicroROS control board firmware is incorrect or the agent is not connected successfully!
It is common that the agent fails to connect successfully. You can press the RESET button on the MicroROS control panel and wait for about 10 seconds.
The most accurate solution:
You can refer to the remote control tutorial below and directly enter the Raspberry Pi system to view

joystick control

Before officially using the USB controller to control, you need to press the R1 button.

 

USB handle buttoncontrol function
Left joystick upThe car moves forward
Left joystick downCar backs up
Right joystick to the rightCar turns right
Right rocker leftCar turns left
XSteering gear to the left
BSteering gear to the right
AServo down
YServo up

2. Remote control

We demonstrate the use of VNC remote here. VNC remote needs to ensure that both remote devices are on the same LAN!

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Our MicroROS-Pi5 car comes with a hotspot at the factory, which allows the computer to connect to the hotspot of the car, thus ensuring that the two are on the same LAN!

VNC Remote: Windows Remote Desktop Connection

VNC installation

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https://www.realvnc.com/en/connect/download/viewer/

VNC connection

The IP corresponding to Raspberry Pi hotspot mode is 10.42.0.1

system message

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username：pi
password：yahboom

Hot information

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name：Micro_ros
password：12345678

If you want to connect your own WIFI in hotspot mode, you can read the 【4. Network configuration tutorial in hotspot mode (must read)】 in Section 4

Turn off the auto-start handle control after power on

The MicroROS car will automatically start the program when it is turned on. The two terminals displayed are starting the agent and starting docker.

Temporarily closed

Display information about all processes on the system:

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ps -A

Forcefully terminate the process:

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kill -9 [PID]

permanently closed

Modify startup script file

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vi /home/pi/ros2_humble.sh

In the video, press "E" to enter editing!

3. Keyboard control car

Start and connect to the agent

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sh ~/start_agent_rpi5.sh

Enter docker

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sh ros2_humble.sh

View ROS nodes

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ros2 node list

Start keyboard control

The mouse needs to stay on the keyboard control command terminal to control the car!

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ros2 run yahboomcar_ctrl yahboom_keyboard

4. Autonomous driving line patrol

Start and connect to the agent

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sh ~/start_agent_rpi5.sh

Enter docker

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sh ros2_humble.sh

Start autonomous driving line patrol

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ros2 run yahboomcar_astra  follow_line
selected route

After the camera screen is loaded, press the "R" key to select it. It is recommended to choose a brightly colored route!

Start patrolling

After successfully selecting the route, press the space bar to start following the route!

 

Assembly steps
Write firmware

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