About hoverboard_robot

Thi projects intention is to make a public repository where anyone can create a robot with an embedded system and hoverboard wheels Using ROS2.

Index

• Project status
• Docker
• Hoverboard firmware hack
• Hoverboard control check
• Robot design
• Robot simulation
• Robot creation
• AI model into ROS2

Project status

• Docker ready to use it in the embedded system
• Hoverboard firmware hack
• Hoverboard control with embedded system using ROS2
• Robot design
• Robot simulation
• Create the robot
• Add own AI system for semantic segmentation into ROS2

Docker

First of all we need to prepare our docker image to use it in any device.

Dockr tips:

Commands:

1. Listar todas las imágenes
   • docker images
2. Listar todos los contenedores ejecutando
   • docker ps
3. Listar todos los contenedores
   • docker ps -a
4. Borrar un contenedor
   • docker rm CONTENEDOR_ID
5. Borrar una imagen
   • docker rmi IMAGEN_ID
6. Descargar la imagen de ROS2
   • docker pull docker_name:tag
   • check docker images in dockerhub
7. Creamos el contenedor

   • Run this command in shell

     docker run --name ros2 -it \
     -eDISPLAY=$DISPLAY \
     --device=/dev/dri:/dev/dri \
     -v$HOME/curso_ros/:/tmp/curso_ros/:rw \
     -v/tmp/.X11-unix:/tmp/.X11-unix \
     --env="QT_X11_NO_MITSHM=1" \
     $IMAGE_ID /bin/bash
     

Dockerfile commands

1. ADD
2. COPY
3. CMD
4. ENTRYPOINT
5. ENV
6. FROM
7. MANTAINER
8. ONBUILD
9. RUN
10. USER
11. VOLUME
12. WORKDIR

Hoverboard firmware hack

The firmware hack is done in VS Code by Platfor IO using the code of EFeru/hoverboard-firmware-hack-FOC repository. Main steps to upload the firmware:

• Platform IO

Hoverboard control check

Check the serial protocol of the hoverboard controlling it from the embedded system.

Robot design

Robot design usig FREECAD

Robot simulation

Using the robot design and the elements to add in ROS make the URDF and add the robot with navigation control in Gazebo.

Robot creation

Create the robot

AI model into ROS2

Train our own model for semantic segmentation using SUN-RGBD dataset and load it to use it as a ROS node.

Check new things

How to use Nav2 and PlanSys2