diff --git a/README.md b/README.md index 9a711c76..9b1ad18e 100644 --- a/README.md +++ b/README.md @@ -39,6 +39,7 @@ Other projects built upon Andino! :rocket: - :lady_beetle: [`andino_webots`](https://github.com/Ekumen-OS/andino_webots): [Webots](https://github.com/cyberbotics/webots) simulation of the Andino robot fully integrated with ROS 2. - :joystick: [`andino_o3de`](https://github.com/Ekumen-OS/andino_o3de): [O3DE](https://o3de.org/) simulation of the Andino robot. - :green_circle: [`andino_isaac`](https://github.com/Ekumen-OS/andino_isaac): [Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/index.html) simulation of the Andino robot. +- :robot: [`andino_rmf`](https://github.com/Ekumen-OS/andino_rmf): [OpenRMF](https://www.open-rmf.org/) integration of Andino simulation. - :test_tube: [`andino_integration_tests`](https://github.com/Ekumen-OS/andino_integration_tests): Extension to the Andino robot showing how to build integration tests. ## :busts_in_silhouette: Community diff --git a/andino_base/CHANGELOG.rst b/andino_base/CHANGELOG.rst index b90afe94..3ee59a89 100644 --- a/andino_base/CHANGELOG.rst +++ b/andino_base/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package andino_base ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.0 (2024-07-19) +------------------ +* explicitly add header for fixed width integer types (`#254 `_) +* Contributors: Sakura286 + 0.1.0 (2023-10-09) ------------------ * Adds pkg-config module dependency (`#161 `_) diff --git a/andino_base/package.xml b/andino_base/package.xml index c7630308..e874b26d 100644 --- a/andino_base/package.xml +++ b/andino_base/package.xml @@ -2,7 +2,7 @@ andino_base - 0.1.0 + 0.2.0 The andino_base package Franco Cipollone diff --git a/andino_bringup/CHANGELOG.rst b/andino_bringup/CHANGELOG.rst index e27b2ac9..c763c4eb 100644 --- a/andino_bringup/CHANGELOG.rst +++ b/andino_bringup/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package andino_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.0 (2024-07-19) +------------------ +* Camera info yaml (`#231 `_) +* Added README for andino_bringup (`#233 `_) +* Matches convention with cmd_vel and odom topics. (`#223 `_) +* Add missing dependency for keyboard teleop launchfile (`#227 `_) +* Contributors: Franco Cipollone, Gary Servin, Jesús Silva + 0.1.0 (2023-10-09) ------------------ * Fixes rosbag2 dependency. (`#151 `_) diff --git a/andino_bringup/package.xml b/andino_bringup/package.xml index fafb1079..2bda95db 100644 --- a/andino_bringup/package.xml +++ b/andino_bringup/package.xml @@ -2,7 +2,7 @@ andino_bringup - 0.1.0 + 0.2.0 Contains launch files to bring up andinobot robot. Franco Cipollone diff --git a/andino_control/CHANGELOG.rst b/andino_control/CHANGELOG.rst index 5566bceb..5f11b967 100644 --- a/andino_control/CHANGELOG.rst +++ b/andino_control/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package andino_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.0 (2024-07-19) +------------------ +* Matches convention with cmd_vel and odom topics. (`#223 `_) +* Contributors: Franco Cipollone + 0.1.0 (2023-10-09) ------------------ * Sets up ros control for the andino robot diff --git a/andino_control/package.xml b/andino_control/package.xml index fba9b6ed..799a23aa 100644 --- a/andino_control/package.xml +++ b/andino_control/package.xml @@ -2,7 +2,7 @@ andino_control - 0.1.0 + 0.2.0 The andino_control package Franco Cipollone diff --git a/andino_description/CHANGELOG.rst b/andino_description/CHANGELOG.rst index 93c2280b..f873512a 100644 --- a/andino_description/CHANGELOG.rst +++ b/andino_description/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package andino_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.0 (2024-07-19) +------------------ +* Allow custom configuration (`#243 `_) +* Process xacro file test (`#244 `_) +* Contributors: Jesús Silva + 0.1.0 (2023-10-09) ------------------ * Updated lidar mesh (`#165 `_) diff --git a/andino_description/package.xml b/andino_description/package.xml index 20d4cac2..c7a4bdc6 100644 --- a/andino_description/package.xml +++ b/andino_description/package.xml @@ -2,7 +2,7 @@ andino_description - 0.1.0 + 0.2.0 The andino_description package Franco Cipollone Franco Cipollone diff --git a/andino_firmware/CHANGELOG.rst b/andino_firmware/CHANGELOG.rst index d4c70eaa..bc3d10ff 100644 --- a/andino_firmware/CHANGELOG.rst +++ b/andino_firmware/CHANGELOG.rst @@ -2,6 +2,44 @@ Changelog for package andino_firmware ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.0 (2024-07-19) +------------------ +* Camera info yaml (`#231 `_) +* Improve Shell unit tests (`#245 `_) +* fix minor typo in App class (`#246 `_) +* Changes to add IMU to andino firmware (`#215 `_) +* Add Shell class tests (`#242 `_) +* Modify Shell class API to allow dependency injection (`#221 `_) +* Add basic Platform IO instructions (`#229 `_) +* Add serial stream interface and the Arduino implementation (`#220 `_) +* Rename PID class (`#218 `_) +* Rename init method from Shell class (`#219 `_) +* Add PID class tests (`#217 `_) +* Only send motor commands if pid is enabled (`#222 `_) +* Add Encoder unit tests (`#214 `_) +* Add Motor unit tests (`#211 `_) +* Modify Encoder class API to allow dependency injection (`#213 `_) +* Modify Motor class API to allow dependency injection (`#210 `_) +* Add digital in interface (`#212 `_) +* Add PWM output interface and the Arduino implementation (`#209 `_) +* Add digital output interface and the Arduino implementation (`#208 `_) +* Fix Arduino header file inclusion (`#207 `_) +* Add basic setup for unit testing (`#205 `_) +* Improve app loop (`#197 `_) +* Improve command prompt parsing (`#194 `_) +* Add Shell class (`#193 `_) +* Supports Arduino Nano by providing a new Arduino configuration. (`#195 `_) +* Fixes some compilation warnings. (`#196 `_) +* Add command methods (`#187 `_) +* Enable all compiler warnings (`#186 `_) +* Add Hw struct (`#177 `_) +* Add Constants struct (`#176 `_) +* Add App class (`#175 `_) +* Add main function (`#173 `_) +* Fixes link to commands. (`#178 `_) +* Add Encoder class (`#172 `_) +* Contributors: Agustin Alba Chicar, Franco Cipollone, Gary Servin, Gonzo, Javier Balloffet, Jesús Silva + 0.1.0 (2023-10-09) ------------------ * Don't send stop constantly (`#150 `_) diff --git a/andino_firmware/package.xml b/andino_firmware/package.xml index 59f02729..ff43685c 100644 --- a/andino_firmware/package.xml +++ b/andino_firmware/package.xml @@ -2,7 +2,7 @@ andino_firmware - 0.1.0 + 0.2.0 The andino_firmware package Franco Cipollone Javier Balloffet diff --git a/andino_hardware/CHANGELOG.rst b/andino_hardware/CHANGELOG.rst index db949d09..701a73ed 100644 --- a/andino_hardware/CHANGELOG.rst +++ b/andino_hardware/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package andino_hardware ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.0 (2024-07-19) +------------------ +* Camera info yaml (`#231 `_) +* Update andino_hardware README.md (`#256 `_) +* Update connections diagram (`#252 `_) +* Add new Arduino diagram (`#249 `_) +* Add a note about not updated diagram (`#248 `_) +* Update bill of materials (`#241 `_) +* Adds some clarifications about the installation process. (`#199 `_) +* Contributors: Agustin Alba Chicar, Franco Cipollone, Jesús Silva + 0.1.0 (2023-10-09) ------------------ * Fixes USB port names (`#143 `_) diff --git a/andino_hardware/README.md b/andino_hardware/README.md index be484d70..cae26831 100644 --- a/andino_hardware/README.md +++ b/andino_hardware/README.md @@ -11,14 +11,68 @@ This package aims to provide the necessary information to the correct assembly o | 3 | Motors | 2 x Motor with Encoder | [Sparkfun](https://www.sparkfun.com/products/16413) | - | | 4 | Microcontroller | Arduino Nano | [Amazon](https://www.amazon.es/RUIZHI-Interfaz-Controlador-Mejorada-Compatible/dp/B0CNGKG4MZ/ref=sr_1_6?dib=eyJ2IjoiMSJ9.gnHfW9VtlEjMns12dAyHXLyFAlaikWpFyoOQJpO0iJBR-zelggQTQ9n001SH_P6NQ9DO3gPetP2krm7GAGvJus6vz4Utqu8Hy1gol0Rq7nmtJITd70ZNi3linf9v1g1iP7MlBx98cBGLVvFy-O2kZnJ63uZDwOZzwz_kExJzUWAxroO3AjufqqGOQHswLfDfjH6jpOJt54xxpCaqurDccId2O0uGKOj6WpPz6iLSubpsPB479SWYPSncxWQzz2kO4VjT6HVzPS2uWi19TS-A9WXVZceLBiz9t25Pf39jiGQ.1sLxrQ94HdIoXBq4VcDFMZhzKoL3wyJoY-U6BmDI6fY&dib_tag=se&keywords=arduino+nano+v3&qid=1714468231&sr=8-6) | You can also use an Arduino Uno, but mind size. It should include a microUSB - USB cable. If not, you will need to purchase it. | | 5 | Motor Driver | L298N Dual H Bridge | [Amazon](https://www.amazon.com/Bridge-Stepper-Driver-Module-Controller/dp/B09T6K9RFZ/ref=sr_1_4?crid=37YY7JO6C3WVE&keywords=l298&qid=1685740618&sprefix=l29%2Caps%2C277&sr=8-4) | - | -| 6 | Laser Scanner | RPLidar A1M8 | [RobotShop](https://www.robotshop.com/products/rplidar-a1m8-360-degree-laser-scanner-development-kit?_pos=3&_sid=b0aefcea1&_ss=r), [Amazon](https://www.amazon.es/dp/B07VLFGT27?ref_=cm_sw_r_cso_wa_apan_dp_RJ3AZC2XCEVDK0X2DCGA&starsLeft=1&th=1) | - | -| 7 | Camera | Raspi Camera Module V2, 8 MP | [Robotshop](https://www.robotshop.com/products/raspberry-pi-camera-module-v2), [Amazon](https://www.amazon.com/Raspberry-Pi-Camera-Module-Megapixel/dp/B01ER2SKFS?th=1) | - | +| 6 | Laser Scanner | RPLidar A1M8 | [RobotShop](https://www.robotshop.com/products/rplidar-a1m8-360-degree-laser-scanner-development-kit?_pos=3&_sid=b0aefcea1&_ss=r), [Amazon](https://www.amazon.es/dp/B07VLFGT27?ref_=cm_sw_r_cso_wa_apan_dp_RJ3AZC2XCEVDK0X2DCGA&starsLeft=1&th=1) | If no microUSB-USB cable is included, you will need to purchase one | +| 7 | Camera | Raspi Camera Module V2, 8 MP | [Robotshop](https://www.robotshop.com/products/raspberry-pi-camera-module-v2), [Amazon](https://www.amazon.com/Raspberry-Pi-Camera-Module-Megapixel/dp/B01ER2SKFS?th=1), [Longer cable](https://www.amazon.es/AZDelivery-Repuesto-Raspberry-30cm-Flexkabel/dp/B01NAXKTDP/ref=sr_1_9?__mk_es_ES=%C3%85M%C3%85%C5%BD%C3%95%C3%91&crid=I1IK0FQVQCCU&dib=eyJ2IjoiMSJ9.2UYb-3a8M00iHZZiHT0xjp8vfzq-3BSmJSLxdtcCMV6WMj8g5T8T_j5DKX8cESxqnVN01YpV3nX28IuhewGTOsmJ4yF5st20TxU7kHNHftZE_aygB5vT-001wEvUfx70V0H0DZljw0YfC4R2wpjsTR_89pAA95C4F8LhJiGbbUGTEjBgmjnsRIFs6FYatZa9KVusNyv2cKxGZlav36gdoAkMXQUvX578c6frxSnH5DROCeK6bKSqrczA7R8OBVWC995fK1AxHbJLHZJEDQGXMVhUkHd2liBV0nq48mnyE6Q.nHty4TxSpldkH8FZAia_rx7sX6c2uIBpPRUEqwq5NiY&dib_tag=se&keywords=raspberry%2Bpi%2Bcamera%2Bcable&qid=1716878948&sprefix=raspberry%2Bpi%2Bcamera%2Bcable%2Caps%2C76&sr=8-9&th=1) | A link for a longer cable (30 cm) is included, just in case the one included with the camera is too short. | | 8 | Electrical Power Supply | Powerbank 5V | [Amazon](https://www.amazon.es/Heganus-Powerbank-10000mAh-port%C3%A1til-pr%C3%A1ctico/dp/B082PPPWXY/ref=asc_df_B082PPPWXY/?tag=googshopes-21&linkCode=df0&hvadid=420334509253&hvpos=&hvnetw=g&hvrand=13392500367381615369&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9181150&hvtargid=pla-878722533582&psc=1&mcid=642b7553488f350a8726c7bfb183a667&tag=&ref=&adgrpid=95757266066&hvpone=&hvptwo=&hvadid=420334509253&hvpos=&hvnetw=g&hvrand=13392500367381615369&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9181150&hvtargid=pla-878722533582) | Any powerbank is suitable: Mind size / weight / output current(>=2A) | -| 9 | (Optional) Power Step up | DC - DC boost converter | [Amazon America](https://www.amazon.com/0-9-Step-Regulator-DC-Converter/dp/B0C6QTJMFN/ref=sr_1_25?crid=G0FHM4SS5TWX&keywords=dc+step+up+converter&qid=1685741155&sprefix=dc+step+up+conver%2Caps%2C371&sr=8-25), [Amazon Europe](https://www.amazon.com/Converter-Adjustable-Voltage-Regulator-Compatible/dp/B089JYBF25/ref=sr_1_3?crid=3EB0RWDAO1UED&dib=eyJ2IjoiMSJ9.OVkOHemqP_yF8PlJmBNcovwOq6TzYQJADN7pCYP7m9hgHNOuzIA3jqIt5kZK9azOh0Nu3D7ucFbFjgBJprKpAQsC1VhKtCS1z6QLs6w0Ht4seE97e8yWkUkP6fPOry_5D1nyfsh0aMc7wLknNr5R9yDWTg6cYralThbLeU8qfIcpq5m66m9luKznRZiv2eUaXvI0rmcQyLKR2Z5NO_xktttAXuvHAnEnBwpk_3LZ1xA.r84ipJcrDH3o24_JEB5q7jNYEzRKyi56VO3e-xi7QXo&dib_tag=se&keywords=dc%2Bstep%2Bup%2Bconverter&qid=1714468875&sprefix=dc%2Bstep%2Bup%2Bconverter%2Caps%2C170&sr=8-3&th=1) | If motors support higher voltage than 5V a step-up(e.g: to 9V) can be added between powerbank(5V) and motor driver | -| 10 | Fixing & Mount | M3 bolts/fasteners - M3 Spacers - M2.5/2.0 bolts/fasteners for SBC | [Mercado Libre](https://articulo.mercadolibre.com.ar/MLA-823234605-kit-tornillos-electronica-500-unid-fresada-philips-m3-oferta-_JM#position=1&search_layout=stack&type=item&tracking_id=2a14497e-a3dc-4a0f-98fb-b3b524117284), [Amazon](https://www.amazon.com/Taiss-620PCS-Metric-Assortment-Washers/dp/B0CWXRG6VL/ref=sr_1_2_sspa?crid=3R3BT7LOQWZ4B&dib=eyJ2IjoiMSJ9.EBY3VtTnCGRri20ECsEwpF2eTrWOhlADXq8Rbv78LP7JVW0giUfPQ5-G3e5cVq7svNoKIPbFGf0jQoImIPuJvU72yWC0XaaXyHE03TjX1zVT-AxcCUr6bvvqnQrrwFNowZjHy2ZibnHX4sDMx3aixEmx5XUGq43KVEID5FIGzTw6xsLQd410DewktxUFWCHLSD8HR8BeAUKcP3mzciuPmc8dcz9TzY5cZ_wYFO-WyEQ.B5-OkrGZbzkIn8cw4Zb_LtQUoxX1qKuiVqI6PTNmpZk&dib_tag=se&keywords=kit+M3+tuercas+y+tornillos&qid=1714469030&sprefix=kit+m3+tuercas+y+tornillos%2Caps%2C149&sr=8-2-spons&sp_csd=d2lkZ2V0TmFtZT1zcF9hdGY&psc=1) | You would also need a set of screwdrivers if you don't have one | +| 9 | Power Step up | DC - DC boost converter | [Amazon Europe](https://www.amazon.es/Convertidor-convertidor-Controlador-almacenamiento-Transformadores/dp/B08D5XF571) | If motors support higher voltage than 5V a step-up(e.g: to 9V) can be added between powerbank (5V) and motor driver. Screw clockwise to reduce the output voltage. | +| 10 | Fixing & Mount | M3 bolts/fasteners - M3 Spacers - M2.5/2.0 bolts/fasteners for SBC | [Mercado Libre](https://articulo.mercadolibre.com.ar/MLA-823234605-kit-tornillos-electronica-500-unid-fresada-philips-m3-oferta-_JM#position=1&search_layout=stack&type=item&tracking_id=2a14497e-a3dc-4a0f-98fb-b3b524117284), [Amazon](https://www.amazon.com/Taiss-620PCS-Metric-Assortment-Washers/dp/B0CWXRG6VL/ref=sr_1_2_sspa?crid=3R3BT7LOQWZ4B&dib=eyJ2IjoiMSJ9.EBY3VtTnCGRri20ECsEwpF2eTrWOhlADXq8Rbv78LP7JVW0giUfPQ5-G3e5cVq7svNoKIPbFGf0jQoImIPuJvU72yWC0XaaXyHE03TjX1zVT-AxcCUr6bvvqnQrrwFNowZjHy2ZibnHX4sDMx3aixEmx5XUGq43KVEID5FIGzTw6xsLQd410DewktxUFWCHLSD8HR8BeAUKcP3mzciuPmc8dcz9TzY5cZ_wYFO-WyEQ.B5-OkrGZbzkIn8cw4Zb_LtQUoxX1qKuiVqI6PTNmpZk&dib_tag=se&keywords=kit+M3+tuercas+y+tornillos&qid=1714469030&sprefix=kit+m3+tuercas+y+tornillos%2Caps%2C149&sr=8-2-spons&sp_csd=d2lkZ2V0TmFtZT1zcF9hdGY&psc=1), [Spacers](https://www.amazon.es/YOKIVE-Separadores-Tornillos-Hexagonal-Consistente/dp/B0BWXL75R6/ref=sr_1_11?__mk_es_ES=%C3%85M%C3%85%C5%BD%C3%95%C3%91&crid=39R5HOTYH2AC9&dib=eyJ2IjoiMSJ9.7A-mx6__B2agU-KSbpRPhlNj2WkQfkj8OtZKEmwlwHa3NiDqUA-1Um0339r3Ssad0h03L471s08VcgBGByJpKwummUR8Sgyt3AuF4sahKIacNlyBlD8mcl3bNQ54HR8L585aepoUOxllFXUi2AEGde8kjkNqaiOEcyflppOf1eKtAtlyTYnnjOVJs5YqRK97QV3pUt1g8Rt1zLn7RsEtRrvlMQIXXBjIFFZsqK2tN7OBY2lgorgdRsXP1aS5tad9rD9vsl9SkPUx_c1Bf0ulzabNSFk19v_cSd0IwEx2zSw.30hsx31Q_-5A3eLrlOwhoTvAs_yDufCk04NiN0xk0C8&dib_tag=se&keywords=spacer+30mm+m3&qid=1716156793&refinements=p_n_free_shipping_eligible%3A20930980031&rnid=20930979031&sprefix=spacer+30mm+m3%2Caps%2C107&sr=8-11) | You will probably need to replace the default spacers for the LiDAR with M3 spacers | | 11 | Other 3D printed parts | Camera Mount | [3D models](./printing_model/raspi_cam_mount/) | These parts are for fixing the Raspi Cam at the front of the robot | +| 12 | Caster wheel | Caster wheel | [Amazon](https://www.amazon.es/Unidades-Peque%C3%B1as-Dispositivo-Transferencia-Transporte/dp/B098XHYW7F/ref=asc_df_B098XHYW7F/?tag=googshopes-21&linkCode=df0&hvadid=529604577974&hvpos=&hvnetw=g&hvrand=15132275207682237467&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9181150&hvtargid=pla-1396749454795&psc=1&mcid=b1df85a65d163e89b507de60e73f9e65) | - | +| 13 | SD Card | 64 GB SD Card | [Apokin](https://www.apokin.es/tarjeta-microsd-philips-64gb-class10.html), [Amazon](https://www.amazon.es/Kingston-Tarjeta-SDCS2-64GB-Adaptador/dp/B07YGZQ4H8/ref=sr_1_7?dib=eyJ2IjoiMSJ9.zE4PI6DCNK3d78rtl5ga1NQXGwJT1jC2iqi3mXNzbdJ4BosAUPCn9gc13Gc7pdHDx-7wTy4CDj0zIlgDpu9qXH-6GLgI--pJbfi3OvTBPhwwH-tfi1OzM9xqcAOJG6pJuTtkknsyFk6Ma2EHJ4UdheaziDC_KKaWNKgsf_DFbcA-ZxQSXlTtQqwHvCzgi8hq4vKGiEIY-LSZS_sXE9IUGroo0Isl59Po2IXhTBG5IHnnsVR_7lo0dVBVFYl-5GY2CvJbrixULuPl90TbFTTP6DoIeDcpFdDTcbvSK3Lecss.WXBgIZllFgQxx13Szl3q6WIlTOliwrN8V42J1SzNJ8o&dib_tag=se&qid=1714552555&refinements=p_n_feature_browse-bin%3A948155031&s=computers&sr=1-7) | The SD Card is used to host the OS for the Raspberry Pi | +| 14 | (Optional) Plastic seals | - | - | You will need at least 2 longer ones to fix the powerbank to the upper chassis, and the shorter ones for all the wires. If you don't want to use them, you can use other method to fix the powerbank and wires | +When you gather all the parts, you should have the following (NOTE: the printed encoder wheels are no longer necessary, since the motors are equipped with an embedded encoder): + + +### Tooling + +| Number | Tool | Links | Comments | +|:--:|:------:|:--------------------:|:-------------------------------------------------------:| +| 1 | Set of screwdrivers | [Amazon](https://www.amazon.es/Ainiv-Destornilladores-Precisi%C3%B3n-Destornillador-magnetizador/dp/B09CD1F44B/ref=asc_df_B09CD1XT57/?tag=googshopes-21&linkCode=df0&hvadid=529495276761&hvpos=&hvnetw=g&hvrand=2854754490438163902&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9181160&hvtargid=pla-1431590275356&mcid=4f49c0c6c8ca33b390169090ae4ad15b&th=1) | You need flat and star screwdrivers | +| 2 | Silicon Pistol | [Amazon](https://www.amazon.es/Tilswall-Pegamento-Manualidades-Bricolaje-Reparaciones/dp/B07TD1RD4R/ref=pd_ci_mcx_pspc_dp_d_2_i_1?pd_rd_w=49k0d&content-id=amzn1.sym.f11fe75a-7397-412e-9b90-7e09bf6f5c14&pf_rd_p=f11fe75a-7397-412e-9b90-7e09bf6f5c14&pf_rd_r=MA73TQJTYS2GMC7XW7YC&pd_rd_wg=Z3aRz&pd_rd_r=08e805c6-81b7-4023-8ea1-9b357536cba1&pd_rd_i=B07TD1RD4R&th=1) | This pistol should include 75 silicon bars so you won't need to purchase them separately | + +## Assembly Process + + 1. Screw the Motor Driver and the idler wheel to the lower chassis. + + + + Here you have a front image of how the caster wheel are mounted to the chassis: + + + + 2. Screw the 3D printed parts for the Raspi Camera Module: + + + + 3. Add the Arduino Nano to the back of the lower part of the chassis. It should look like this: + + + + 4. Screw the Raspberry Pi and the DC-DC converter to the front of the lower part of the chassis: + + + + 5. Fix the powerbank to the back of the upper part of the chassis: + + + + 6. Add the RPLidar to the front of the upper part of the chassis: + + + + 7. Add the IMU (WIP) + + + + 8. Perform all the wiring following the [Connections Diagram](#connection-diagram) of both the upper and lower chassis. Note that some of the connections may need to be done by soldering the cables. + + 9. Join both chassis together, and complete the remaining wiring to have your robot ready: + + + + ## Connection Diagram ### Motor-Arduino @@ -50,7 +104,7 @@ The SBC used in this project is a Raspberry Pi 4b so the guidelines here will re Ubuntu Mate 22.04 ARM64 is the recommended operative system for this project. This OS provides good capabilities for a educational platform as well as good performance. For installing this OS in the Raspberry: -1. Download the image from here: [ubuntu mate download]()https://ubuntu-mate.org/download/arm64/ +1. Download the image from here: [ubuntu mate download](https://ubuntu-mate.org/download/arm64/) 2. Install OS to a microSD card using [Raspberry Pi Imager](https://www.raspberrypi.com/software/). @@ -194,7 +248,7 @@ For now, after connecting it to the usb port: #### Fixed USB port names As having multiple USB devices connected to the USB ports of the Raspberry Pi, the automatically assigned USB port numbers could unexpectedly change after a reboot. -To avoid assigning your device to a `tty_USBX` number that isn't the correct onew we should assign fixed USB port name for each connected device. +To avoid assigning your device to a `tty_USBX` number that isn't the correct one we should assign fixed USB port name for each connected device. The idea is to be able to generate a link between the real `ttyUSBX` port and an invented one. For this we will need to create rules, that every time the Raspberry Pi boots are executed, and therefore we always point to the correct port name. diff --git a/andino_hardware/docs/andino_complete.jpg b/andino_hardware/docs/andino_complete.jpg new file mode 100644 index 00000000..0f074eed Binary files /dev/null and b/andino_hardware/docs/andino_complete.jpg differ diff --git a/andino_hardware/docs/andino_diagram_arduino.jpg b/andino_hardware/docs/andino_diagram_arduino.jpg index d271201c..ff121e59 100644 Binary files a/andino_hardware/docs/andino_diagram_arduino.jpg and b/andino_hardware/docs/andino_diagram_arduino.jpg differ diff --git a/andino_hardware/docs/andino_diagram_raspberry.jpg b/andino_hardware/docs/andino_diagram_raspberry.jpg index 9b22cc2d..4626f903 100644 Binary files a/andino_hardware/docs/andino_diagram_raspberry.jpg and b/andino_hardware/docs/andino_diagram_raspberry.jpg differ diff --git a/andino_hardware/docs/caster_wheel.jpg b/andino_hardware/docs/caster_wheel.jpg new file mode 100644 index 00000000..bc34bc8e Binary files /dev/null and b/andino_hardware/docs/caster_wheel.jpg differ diff --git a/andino_hardware/docs/caster_wheel_h_bridge.jpg b/andino_hardware/docs/caster_wheel_h_bridge.jpg new file mode 100644 index 00000000..a7be6594 Binary files /dev/null and b/andino_hardware/docs/caster_wheel_h_bridge.jpg differ diff --git a/andino_hardware/docs/lidar.jpg b/andino_hardware/docs/lidar.jpg new file mode 100644 index 00000000..2974682c Binary files /dev/null and b/andino_hardware/docs/lidar.jpg differ diff --git a/andino_hardware/docs/lower_back.jpg b/andino_hardware/docs/lower_back.jpg new file mode 100644 index 00000000..1a4ddaf1 Binary files /dev/null and b/andino_hardware/docs/lower_back.jpg differ diff --git a/andino_hardware/docs/lower_front.jpg b/andino_hardware/docs/lower_front.jpg new file mode 100644 index 00000000..08c5d8cd Binary files /dev/null and b/andino_hardware/docs/lower_front.jpg differ diff --git a/andino_hardware/docs/parts.jpg b/andino_hardware/docs/parts.jpg new file mode 100644 index 00000000..d53c425b Binary files /dev/null and b/andino_hardware/docs/parts.jpg differ diff --git a/andino_hardware/docs/powerbank.jpg b/andino_hardware/docs/powerbank.jpg new file mode 100644 index 00000000..ec3b53bf Binary files /dev/null and b/andino_hardware/docs/powerbank.jpg differ diff --git a/andino_hardware/docs/printed_camera_parts.jpg b/andino_hardware/docs/printed_camera_parts.jpg new file mode 100644 index 00000000..718632f7 Binary files /dev/null and b/andino_hardware/docs/printed_camera_parts.jpg differ diff --git a/andino_hardware/package.xml b/andino_hardware/package.xml index c194592a..21a9d4cd 100644 --- a/andino_hardware/package.xml +++ b/andino_hardware/package.xml @@ -2,7 +2,7 @@ andino_hardware - 0.1.0 + 0.2.0 The andino_hardware package Franco Cipollone Javier Balloffet diff --git a/andino_navigation/CHANGELOG.rst b/andino_navigation/CHANGELOG.rst index 2ae894ef..80e5c71d 100644 --- a/andino_navigation/CHANGELOG.rst +++ b/andino_navigation/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package andino_navigation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.0 (2024-07-19) +------------------ +* andino_apps package created and andino_navigation package updated (`#235 `_) +* Improves andino_navigation package. (`#224 `_) +* Contributors: Franco Cipollone, Jesús Silva + 0.1.0 (2023-10-09) ------------------ * Renames andino_gazebo package to andino_gz_classic. (`#153 `_) diff --git a/andino_navigation/package.xml b/andino_navigation/package.xml index c62d309d..07319faa 100644 --- a/andino_navigation/package.xml +++ b/andino_navigation/package.xml @@ -2,7 +2,7 @@ andino_navigation - 0.1.0 + 0.2.0 Bring up nav2 package with Andino. diff --git a/andino_slam/CHANGELOG.rst b/andino_slam/CHANGELOG.rst index 7a94dcbf..f41ce45b 100644 --- a/andino_slam/CHANGELOG.rst +++ b/andino_slam/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package andino_slam ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.2.0 (2024-07-19) +------------------ +* Improves andino_navigation package. (`#224 `_) +* Contributors: Franco Cipollone + 0.1.0 (2023-10-09) ------------------ * Adds convenient launch file for rviz in andino_slam package. (`#145 `_) diff --git a/andino_slam/package.xml b/andino_slam/package.xml index aa59b9fc..7a16d98a 100644 --- a/andino_slam/package.xml +++ b/andino_slam/package.xml @@ -2,7 +2,7 @@ andino_slam - 0.1.0 + 0.2.0 The andino_slam package Franco Cipollone