Agriculture-autonomous-Robot

HCMUTE Final-year Project

This project is developed from Nox-Robot project ( see also :https://github.com/RBinsonB/Nox_robot).

Robot Motor wheels schematic :

Arduino communicates with Raspberry Pi 4 by USB cable method.

Motor Pin (Using XY-160D motor driver) :

• Left motor : IN1 = 7 ; IN2 = 6 ; ENB = 10.

• Right motor : IN1 = 11 : IN2 = 12 ; ENB = 9.

• Encoder left motor: Chanel A = 2 ; Chanel B = 4.

• Encoder right motor: Chanel A = 3 ; Chanel B = 5.

Robotic arm schematic:

Setting up the robot:

1. Clone the repository to your workspace.(Ubuntu 18.04.05 LTS)

2. You can install and build the package by typing on terminal :

   $ mkdir catkin_ws/src

   $ cd catkin_ws/src

   $ catkin_init_workspace

   $ git clone https://github.com/chanhhoang99/Argiculture-Autonomous-Mobile-Robot.git

   $ cd catkin_ws

   $ catkin_make

3. Source your work:

   $ source devel/setup.bash

To run the Robot:

1. Prepare a good Wifi connection

2. Connect to your RPi4 from your laptop workstation via ssh

3. Typing this on terminal of the RPi4:

   $ roslaunch nox nox_bringup.launch

4. Start the navigation by typing this on your laptop workstation's terminal

   $ roslaunch nox nox_slam.launch

To run the robotic arm:

Controlling robotic arm with join-stat-publisher package

1. Typing this on RPi4 terminal:

$ roslaunch arm_pkg check_motors.launch

2. Connect to hardware:

$ rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200

Controlling robotic arm with Moveit! and kinematics

1. $ roslaunch moveit_pkg demo.launch

2. $ rosrun rosserial_python serial_node.py _port:=/dev/ttyUSB0 _baud:=115200

( Note: You may need to use ttyACM)

For more detail please contact : [email protected]