A mobile robot based on ROS and Banana Pi.(Version 1)
- Banana Pi M64
The key features:
- 1.2 Ghz Quad-Core ARM Cortex A53 64-Bit Processor-R18
- GB DDR3 SDRAM
- 8G EMMC
- 10/100/1000Mbps Ethernet
- WiFi (AP6212) & Bluetooth
http://www.banana-pi.org/m64.html
http://linux-sunxi.org/Sinovoip_Banana_Pi_M64
- L298N Dual Full Bridge Motor Driver
- USB Camera
- Car Robot Model
- 7.4V(2S) Lithium-ion Battery
- ROS Kinetic
- Banana Pi M64 image
http://forum.banana-pi.org/c/BPI-M64/M63image
- BPI-WiringPi2 Library
https://github.com/BPI-SINOVOIP/BPI-WiringPi2
Use this library to control the pins.
Choose your favorite image to install.
Refer to the wiki: http://wiki.ros.org/kinetic/Installation/
- After installation:
On the Banana Pi:
$ export ROS_HOSTNAME=bananapim64 && export ROS_MASTER_URI=http://bananapim64:11311
$ roscore
On your PC:
$ export ROS_HOSTNAME=`hostname` && export ROS_MASTER_URI=http://bananapim64:11311
On the Banana Pi:
$ rosrun pwm_control pwm_control
On your PC:
$ rosrun bpi_robot_teleop bpi_robot_teleop_control.py
Furthermore, you can run usb_cam to do video surveillance and build up ORB_SLAM2 to build your map.