BPI-robot-1

A mobile robot based on ROS and Banana Pi.(Version 1)

Hardware Environment

• Banana Pi M64

The key features:

1. 1.2 Ghz Quad-Core ARM Cortex A53 64-Bit Processor-R18
2. GB DDR3 SDRAM
3. 8G EMMC
4. 10/100/1000Mbps Ethernet
5. 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

Software Environment

• ROS Kinetic

http://www.ros.org/

• 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.

To Build Up

1. Install Banana Pi M64 image

Choose your favorite image to install.

2. Install ROS on both your PC and Banana Pi

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

3. Clone this repository and build up use catkin_make

On the Banana Pi:

$ rosrun pwm_control pwm_control

On your PC:

$ rosrun bpi_robot_teleop bpi_robot_teleop_control.py

4. Enjoy it

Furthermore, you can run usb_cam to do video surveillance and build up ORB_SLAM2 to build your map.