Here’s the final video of Beagle-ROS:
I’m currently working on the recipes to merge some of them with the meta-ros repository so stay tuned to that repo if you’re interested. For now i’ll update the beagle-ros code but eventually I’ll move into the meta-ros code. I’ll keep contributing with code and recipes through this layer (off-GSOC).
Furthermore, i’d like to thank BeagleBoard for letting me participate in this summer session. Really glad.
Special thanks to Koen Kooi.
Following the last post, I decided to connect a DC Motor to the PWM signal (the DC motor needs a motor controller as well, in this particular case i used the TI DRV8837). And there it goes:
- Beaglebone (with Angstrom) [how-to]
- ROS (meta-ros) [how-to]
- IMU (Invensense MPU9150 evaluation module)
- DC Motor and motor controller
Not that i consider myself an expert in robotics but let me call this simple example a Hello world in robotics (or, if you prefer Hello robot 😉 ). Why? Well, a robot is basically a device with computing power, sensors and actuators and that’s exactly what this setup has. Furthermore, using the Robot Operative System makes it super easy to attach new capabilities to the robot.
Hopefully this homemade fan robot will help me out survive this summer coding in Spain :).
After all these weeks working on this and that it was already time for a demo video that could help visualize what is this project aiming for and how easy is to attach sensors and actuators to ROS using the BeagleBone. The example shows how two ROS nodes interact through the /imu_euler Topic. Moving the x axis of the IMU changes the width of the PWM signal.
The source of the two ROS packages used (there’s also recipes for cross-compiling this packages here):
*This package uses the adafruit-beaglebone-io-python library.