Repository for the high-level and low-level control system for a 4WD mecanum car. Developed for the "Embedded Systems 2" class in the Cyber-Physical Systems specialization for Automation and Robotics, Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering.
Project consists of two systems:
-
high-level system - responsible for:
- object detection,
- path planning,
- calculating and sending commands to the low-level system.
-
low-level system - responsible for:
- receiving commands from the high-level system,
- controlling the motors of the robot accordingly to the received commands,
- applying the PID control to the motors.
Basic schematic of both of the systems, and the communication between them, is presented below:
High-level system:
- ROS Noetic (ROS1)
- Language of implementation: C++
Low-level system:
- Toolset: PlatformIO
- Framework: Arduino
- Language of implementation: C++
High-level system:
- Jetson Orin NX
- Intel Realsense Depth Camera D435i
Low-level system:
- Arduino Diecimila (ATmega328P)
Documentation for both of the systems can be generated using Docsify tool. To generate the documentation refer to this document.
To start working, clone the repository by running:
git clone --recurse-submodules git@github.com:autonomous-embedded/mecanum-integration.gitin case --recurse-submodules was forgotten:
# after clone...
git submodule init
git submodule updateAfter you've cloned this repository, you can start working with the source code & the documentation we have. You'll probably need to install some dependencies.
For the high-level system, required dependencies are:
- ROS Noetic,
- librealsense.
As an OS for the high-level system, we recommend Ubuntu 20.04 LTS since anything else has not been supported in this repo. Ever. And probably won't be.
For the low-level system, required dependency is:
- PlatformIO.