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Waveshare UGV Robots

This is a Jetson Orin Nano & Jetson Orin NX example for the Waveshare UGV robots: WAVE ROVER, UGV Rover, UGV Beast, RaspRover, UGV01, UGV02.

Basic Description

The Waveshare UGV robots utilize both an upper computer and a lower computer. This repository contains the program running on the upper computer, which is typically a Jetson Orin Nano or a Jetson Orin NX in this setup.

The program running on the lower computer is either named ugv_base_ros or ugv_base_general depending on the type of robot driver being used.

The upper computer communicates with the lower computer (the robot's driver based on ESP32) by sending JSON commands via GPIO UART. The host controller, which employs a Jetson Orin Nano or a Jetson Orin NX, handles AI vision and strategy planning, while the sub-controller, utilizing an ESP32, manages motion control and sensor data processing. This setup ensures efficient collaboration and enhanced performance.

Features

  • Real-time video based on WebRTC
  • Interactive tutorial based on JupyterLab
  • Pan-tilt camera control
  • Robotic arm control
  • Cross-platform web application base on Flask
  • Auto targeting (OpenCV)
  • Object Recognition (OpenCV)
  • Gesture Recognition (MediaPipe)
  • Face detection (OpenCV & MediaPipe)
  • Motion detection (OpenCV)
  • Line tracking base on vision (OpenCV)
  • Color Recognition (OpenCV)
  • Multi-threaded CV processing
  • Audio interactive
  • Shortcut key control
  • Photo taking
  • Video Recording

Quick Install

You need to install Jetson Orin Nano Developer Kit on your robot if you are using WAVE ROVER, UGV01 or UGV02.

This app is already installed in the UGV Rover Jetson Orin AI Kit, UGV Beast Jetson Orin AI Kit and RaspRover Jetson Orin AI Kit.

You can use this tutorial to upgrade your robot's upper computer program.

You can use this tutorial to install this program on a pure Ubuntu(22.04) on Jetson.

Download the repo from github

You can clone this repository from Waveshare's GitHub to your local machine.

git clone https://github.com/waveshareteam/ugv_jetson.git

Grant execution permission to the installation script

cd ugv_jetson/
sudo chmod +x setup.sh
sudo chmod +x autorun.sh

Install app (it'll take a while before finish)

sudo unminimize
sudo ./setup.sh

JupyterLab Setup

python3 create_jupyter_service.py
sudo mv ugv_jupyter.service /etc/systemd/system/ugv_jupyter.service
sudo systemctl enable ugv_jupyter
sudo systemctl start ugv_jupyter

Volume and Pulseaudio for Multi-user Setup

pactl set-sink-volume alsa_output.usb-Solid_State_System_Co._Ltd._USB_PnP_Audio_Device_000000000000-00.analog-stereo 100%
sudo cp pulseaudio.service /etc/systemd/system/pulseaudio.service
sudo systemctl --system enable --now pulseaudio.service
sudo systemctl --system status pulseaudio.service

Service for Jtop

sudo systemctl enable jtop.service

Autorun Setup

./autorun.sh

AccessPopup Installation

cd AccessPopup
sudo chmod +x installconfig.sh
sudo ./installconfig.sh
*Input 1: Install AccessPopup
*Press any key to exit
*Input 9: Exit installconfig.sh

Reboot Device

sudo reboot

After powering on the robot, Jetson will automatically establish a hotspot, and the OLED screen will display a series of system initialization messages:

  • The first line E displays the IP address of the Ethernet port, which allows remote access to the Raspberry Pi. If it shows No Ethernet, it indicates that the Raspberry Pi is not connected to an Ethernet cable.
  • The second line W indicates the robot's wireless mode. In Access Point (AP) mode, the robot automatically sets up a hotspot with the default IP address 192.168.50.5. In Station (STA) mode, the Raspberry Pi connects to a known WiFi network and displays the IP address for remote access.
  • The third line F/J specifies the Ethernet port numbers. Port 5000 provides access to the robot control Web UI, while port 8888 grants access to the JupyterLab interface.
  • The fourth line STA indicates that the WiFi is in Station (STA) mode. The time value represents the duration of robot usage. The dBm value indicates the signal strength RSSI in STA mode.

You can access the robot web app using a mobile phone or PC. Simply open your browser and enter [IP]:5000 (for example, 192.168.10.50:5000) in the URL bar to control the robot.

To access JupyterLab, use [IP]:8888 (for example, 192.168.10.50:8888).

If the robot is not connected to a known WiFi network, it will automatically set up a hotspot named "AccessPopup" with the password 1234567890. You can then use a mobile phone or PC to connect to this hotspot. Once connected, open your browser and enter 192.168.50.5:5000 in the URL bar to control the robot.

To ensure compatibility with various types of robots running on Raspberry Pi, we utilize a config.yaml file to specify the particular robot being used. You can configure the robot by entering the following command:

s 22

In this command, the s directive denotes a robot-type setting. The first digit, 2, signifies that the robot is a UGV Rover, with 1 representing RaspRover and 3 indicating UGV Beast. The second digit, also 2, specifies the module as Camera PT, where 0 denotes Nothing and 1 signifies RoArm-M2.

License

ugv_jetson for the Jetson Orin Nano or Jetson Orin NX: an open source robotics platform for the Jetson Developer Kit. Copyright (C) 2024 Waveshare

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/gpl-3.0.txt.