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ChairBot Software Overview

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CHARISMAlab edited this page Sep 21, 2018 · 1 revision

This codebase lets you connect a central computer (PC) to one/many ChairBots (R-PI). Also, it lets you connect a PS4 controller to the PC which you can use to control/teleoperate one/many ChairBots. In order to do this, I am using ROS (Robot Operating System) and have the PC running the ROS-master, and other ChairBots {technically R-PIs which are connected via USB to Neato robots} also running ROS. Further, each ChairBot can have arduinos and touch sensors connected to them for 'Local control', so the direct inter-actor has some control over robot's behaviors.

Before proceeding further, it's important that you are running Ubuntu on your devices, if not follow the instructions given below-

Installing and configuring Linux

  1. Your PC should be running Ubuntu 16.04, if it is not running Ubuntu 16.04 you can follow the steps here to install it.
  2. Your Raspberry Pi should be running Ubuntu-Mate, instructions to install it on the SD card are easy and provided here.

NOTE: Now that the PC and R-PI both are running Ubuntu 16.04, you need to have them on the same WiFi network. There are many ways to do that, one of the way to do it can be accessed here.

NOTE: Don't forget to enable ssh in raspberry pi, more on how-to is here. Might need an external monitor to do that (as you cannot ssh into R-PI just to enable ssh which was disabled in the first place)

NOTE: I recommend using SAMBA to access the file-folder-system of the raspberry pi, you can access instructions here. This way you can easily configure the file system on multiple raspberry pis, eg copy, paste or just visualize the folders without having to have an external monitor.

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