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MicroROS Self-balancing Robot Car📖
01.Introduction
  • 0.Unboxing and Reviewing
  • 1. Must read before use - learning route
  • 2. Introduction to LiDAR
  • 3. Balance car interface description
  • 4. Analysis of common problems
  • 5. Robot charging and battery precautions
02.Assembly tutorial
  • Robot assembly steps
03.Preparation
  • 0.Quick Start (Must Read)
  • 1.Write firmware
  • 2.How to install and use VM
  • 3.ESP32 communication board configuration parameters
  • 4.Connect to microROS agent
04.ROS-WiFi module configuration
  • 0.Serial port configuration WiFi instructions
  • 1.Use ROS-WiFi cam module(must read)
  • 2.Connect to ROS-WiFi cam module agent
  • 3.Camera image correction (optional)
05.Quick start control
  • 1.Keyboard remote control
  • 2.Handle remote control
06.ROS+OpenCV course
  • 1.OpenCV Getting started
  • 2.Geometric transformation
  • 3.Image processing and drawing text line segments
  • 4.Image beautification
07.Mediapipe course
  • 1. Hand detection
  • 2. Posture detection
  • 3. Overall inspection
  • 4. Face detection
  • 5. Face recognition
  • 6. Facial effects
  • 7. 3D object recognition
  • 8. Brush
  • 9. Finger control
  • 10. Gesture recognition
08.Robot basic course
  • 1.Robot information release
  • 2.Robot keyboard control
  • 3.Robot handle control
  • 4.Robot state estimation
  • 5.Line speed calibration
  • 6.Angular velocity calibration
  • 7.Robot URDF model
09.Lidar course
  • 1.Lidar avoid
  • 2.Lidar following
  • 3.Lidar guard
  • 5.Gmapping mapping
  • 6.Cartographer mapping
  • 7.Navigation2 navigation avoid
  • 8.Navigation2 fast relocation navigation
  • 9.ROS Robot APP mapping
  • 10.ROS Robot APP navigation
10.Robot visual interaction
  • 1.Color tracking
  • 2.Object recognition and tracking
  • 3.Face recognition tracking
  • 4.Autonomous driving line patrol
  • 5.QR code motion control
  • 6.Gesture control car movement
  • 7.Palm control car movement
  • 8.Gesture control car action group
  • 9.Palm recognition and tracking
  • 10.Human body posture recognition and tracking
11.Multi-machine course
  • 1.Multi-machine handle control
  • 2.Multi-machine keyboard control
  • 3.Multi-machine navigation
  • 4.Multi-machine rapid relocation navigation
12.STM32 balancing case
01.Environment construction and development
  • 13.Window Watchdog (WWDG)
  • 01.MDK-ARM installation
  • 02.STM32CubeIDE installation
  • 03.Common driver installation
  • 04.Download the program
  • 05.MDK-ARM project usage
  • 06.Program simulation
02.STM32 getting started course
  • 01.Project creation
  • 02.LED Control(GPIO)
  • 03.Buzzer control(GPIO)
  • 04.Button control(EXTI)
  • 05.Serial communication(USART)
  • 06.Voltage detection(ADC)
  • 07.Basic timer(TIM)
  • 08.Universal timer(TIM)
  • 09.Advanced Timer(TIM)
  • 10.I2C Communication(I2C)-OLED
  • 11.SPI communication(SPI)-2.4G handle
  • 12.Independent Watchdog (IWDG)
  • 14.DMA-USART
  • 15.DMA-I2C
03.STM32 expansion course
  • 01.Battery voltage detection (ADC)
  • 02.Ultrasonic module-measuring distance (TIM)
  • 03.Motor drive+encoder (TIM)
  • 04.OLED Data-Display(I2C)
  • 05.MPU6050-Data Read (I2C)
04.Robot car PID control course
  • 01.PID basic concept
  • 02.PID example analysis
  • 03.P, PI, PD controller theory
  • 04.Position PID
  • 05.Incremental PID
  • 06.Cascade PID
  • 07.Balance principle of car
  • 08.Car upright control (PD)
  • 09.Car speed ​​control (PI)
  • 10.Car steering control (PD)
  • 11.Got angle and angular velocity (DMP algorithm)
  • 12.Got angle and angular velocity (Kalman filter algorithm)
  • 13.Got angle and angular velocity(Complementary filter algorithm)
05.Robot car basic course
  • 01.Car parameter adjustment
  • 02.Ultrasonic obstacle avoidance
  • 03.Ultrasonic follow
  • 04.Bluetooth remote control
  • 05.Load balance
  • 06.Radar obstacle avoidance
  • 07.Radar guard
  • 08.Radar follow
  • 09.Radar patrol
  • 10.Radar wall following go in a straight line
  • 11.Radar tracking wall multiple walls
06.Robot car LQR control
  • Balance car LQR high-level control
07.Circuit design
  • 01.Overall circuit design
  • 02.STM32 minimum system
  • 03.Serial port circuit design
  • 04.Power circuit design
  • 05.MPU6050 Circuit Design
  • 06.Motor drive circuit design
08.Mathematical model
  • Balance car mathematical model
13.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
14.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 bot's docker container
15.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
Download
  • RemoteCtrl_APP(Android)
  • Mapping_APP(iOS_Android)
  • Code
  • Hardware Information
  • software tools
  • 3D model file
  • Instruction manual
  • VM image file
  • ROS2_Basic_VM
Download ZIP

Welcome to MicroROS Self-balancing Robot Car repository

1. Must read before use - learning route

Must-read before use - learning route

The tutorial of microROS balance car is divided into four parts, one is the installation and configuration of the robot course, the second is the practical course, the third is the theoretical course, and the fourth is the STM32 control board course.

First install and configure the microROS balance car according to the first part, and then proceed to the second part of the practical course to make the car run and run through all the cases, and then go to the third part of the theoretical course.

The fourth part of the course is the STM32 control board course, including the basic gameplay of the expansion board and the gameplay of the STM32 balance car. Burning the firmware of the STM32 balance car will clear the factory firmware program of the STM32 control board, so this part of the course is studied last. If you need to reuse the previous course content, please burn the factory firmware to the STM32 control board according to the [Preparation before development] -> [Burn the factory firmware] tutorial before using it.

1. Install and configure the robot course

This part of the course includes:

  • Assembly tutorial

  • Preparation before development

This part of the course is a necessary course. Please follow the process to install and configure the robot.

2. Practical courses

This part of the course includes:

  • Quick start control

  • Robot control

  • Image transmission module visual gameplay

  • LiDAR gameplay

  • Multi-machine function gameplay

Before this part of the course, you need to read all the contents of [Preparation before development] to run normally.

3. Theoretical courses

This part of the course includes:

  • Linux operating system

  • Docker development environment

  • ROS2 basic course

This part of the course is a theoretical course, and you can choose to study according to your needs.

4. STM32 control board course

This part of the course includes:

  • STM32 control board development environment construction

  • STM32 control board entry basic routine

  • STM32 balance car balance theory routine

  • STM32 balance car gameplay routine

This part of the course is an extended course, and you can choose to study it according to your needs.

Unboxing and Reviewing
Introduction to LiDAR

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