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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

2.How to install and use VM

Virtual machine installation and system startup

Virtual machine installation and system startup1. Install virtual machine software2. Start the virtual machine system3. System username and password4. Check the IP address of the virtual machine

1. Install virtual machine software

Open the browser, enter the following URL to enter the VMware Workstation virtual machine software download page, and click Download

https://www.vmware.com/products/desktop-hypervisor/workstation-and-fusion

image-20250108184340815

Here you will be redirected to a URL where you need to log in to your account first. If you don’t have an account, you will be directly registered. Click to log in

image-20250108184704145

After logging in, you can see the My Downloads page. Search VMware Workstation in the search box to find the software we need to download

4386E3C6-B0FA-4798-90A1-113993021179

618BE1E8-1084-4aae-A247-B2BE3BC10A21

If the page after logging in is as follows, you cannot enter VMware Cloud Foundation page, search as follows or directly use the software provided in our materials

Click the search icon in the upper right corner, jump to the search page, search for VMware Workstation Pro, and click the first article to enter

image-20250108185019400

image-20250108192108544

Scroll down to find the product download link, click to enter and you can see more versions of the software. image-20250108192305985

image-20250108192331095

Here we take VMware Workstation Pro 17.6.2 under Windows as an example. After downloading, double-click to run the VMware virtual machine file, and then install the virtual machine software according to the prompts.

image-20250108193325977

image-20250108193352801

image-20250108193520063

image-20250108193544134

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Then wait for the installation to complete

image-20250108193730890

Double-click to open

image-20250108193945306

2. Start the virtual machine system

Use the virtual machine software to open the virtual machine system file in the data.

Find the decompressed virtual machine file path and select the Ubuntu22.04.vmx file.

image-20250108195932994

Select the virtual machine name and click to start this virtual machine.

image-20250108195951581

If it is the first time to open the virtual machine, the following window will be prompted. Click 'I have copied this virtual machine'.

image-20250108200026205

Then wait for the virtual machine to start.

image-20250108200129865

3. System username and password

The virtual machine system of the product is Ubuntu 22.04, and the username and password are as follows:

Username: yahboom

Password: yahboom

4. Check the IP address of the virtual machine

Open the system terminal and enter the command to query the IP address. Usually, inet under ens33 is the IP address of the current virtual machine.

xxxxxxxxxx
ifconfig

image-20250108200257815

Write firmware
ESP32 communication board configuration parameters

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