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The UGV Rover is an open-source mobile robot based on ROS2 with a 6-wheel 4WD architecture. Designed using a dual-controller structure, the ESP32 slave device controls the motor PID, IMU sensors, OLED screen, servo, LED ON/OFF, and so on, which greatly reduces the IO resources for the host computer and provides high-performance communication interfaces. The host device uses Raspberry Pi 4B or Raspberry Pi 5 to ensure the realization of advanced functions such as high-end computing power and specified strategies.
The robot body structure adopts an all-aluminum alloy shell with a thickness of 2mm, which has high structural strength and good durability.。 It adopts soft anti-skid rubber tires with 4 geared motors with encoder for closed-loop speed control to prevent vibrations and achieve excellent sporty performance up to a maximum speed of 1.3m/s. The built-in 3S lithium battery UPS power supply module provides strong and long-lasting power, supporting use while charging, meeting the needs of long-term development and use.
The Raspberry Pi 4B/5 is equipped with a USB camera, which allows users to enjoy a smooth visual experience through the live camera with high frame rate and low latency, and can capture different wonderful moments through functions such as taking photos and videos. In addition, various information feedback from the robot, including battery voltage, CPU usage, etc., are displayed in real time through the WEB application, allowing users to monitor the status of the robot in real time.
The robot's vision system is equipped with a 2-degree-of-freedom high-torque flexible pan-tilt and a 160° ultra-wide-angle 5-million-pixel camera, providing users with a wide viewing angle, flexible observation angles, and a variety of AI machine vision functions. The high-brightness LED spotlight next to the pan-tilt ensures clear use even in low-light environments. In addition, through the design of the Picatinny rails, users can easily expand more tactical accessories, further enhancing the functionality of the robot.
Based on the ROS2 robot operating system, it is equipped with lidar and depth camera, which can build 2D maps and 3D modeling in real time to assist robots in path planning and auto navigation. Using large-scale language model technology, users can control robots through natural language, improving the human-computer interaction experience. Through the WEB application console, users can directly control the robot and easily perform task management and real-time debugging. At the same time, the Gazebo simulation environment provides developers with a virtual testing platform to ensure system stability before actual deployment.
To enable users to fully exploit the potential of this robot, we provide extensive documentation and tutorials, including JupyterLab's WEB application and ROS2 functional documentation. Whether you are a beginner or experienced developer in robotics, these resources can help you learn, study, and create in depth, step by step.
This assembly tutorial mainly includes two parts. The first is a tutorial on installing Raspberry Pi 4B/5 for ACCE model products, and the second is a tutorial for installing lithium batteries.
[Assembly tutorial for ugv rover & ugv beast]
Please ensure you understand the following before use:
The TF card shipped with the product is an image with already configured software and ROS2 functions. Just insert the TF card into the Raspberry Pi and use it.
For first time use, you need to use the configured 12V 5A power cable to connect to the power interface of the product. After turning on the power switch, the product will initialize, and the OLED screen will display a series of initialization information. The Raspberry Pi will automatically create a hotspot, and the IP address will be displayed on the OLED screen after the main program of the project runs automatically. After the startup is completed, the OLED screen displays the following meanings:
After the Raspberry Pi boots up,
Note: The accessed device must be in the same LAN as the Raspberry Pi device to access successfully.
If you want to connect to your own WIFI network, this section explains how to configure the network. Network configuration needs to be completed by entering the JupyterLab page. There are two ways to open the JupyterLab page:
Generally, the default WIFI mode of the configured image of the product is AP mode. To switch to STA mode to connect to a known WIFI for the first time, follow the following steps:
1. After entering the JupyterLab page, click Terminal at the bottom of the page, enter the following command and press Enter to enter the project folder.
bash
2. You can see that the current location is ~/ugv_rpi, then enter the folder of the WIFI configuration tool, enter the following command and press Enter.
cd AccessPopup/
3. Enter the following command to grant executable permission to the WiFi configuration script in the AccessPopup folder.
sudo chmod +x installconfig.sh
4. Run the WIFI configuration script by entering the following command and press Enter.
sudo ./installconfig.sh
5. After running the script, the following interface is displayed. Here, you need to set up a connection to a known WIFI, so enter 5 and press Enter to set up a new WIFI connection.
6. Then it will jump to the add or edit WIFI network interface. After a while, this page will output the WIFI names near the current device, as shown below. There is a serial number in front of each WIFI. Enter the serial number of the WIFI to be connected and press Enter.
7. Then enter the WIFI password to be connected, and after pressing Enter, the product will connect to the set WIFI hotspot. After the connection is successful, you can see the IP address change of the W line on the OLED screen of the product.
8. The JupyterLab page has to be accessed again with the IP address of the W line on the current OLED screen because the IP address has changed. The product is in STA mode after a successful connection and enters the JupyterLab page with the same screen as before, as shown below, press any key to continue.
9. Then you can press 9 and press Enter to exit the WiFi configuration script.
After connecting to a known WIFI successfully, if the product runs out of the range of the known WIFI when it is powered on thereafter, the product will automatically establish a hotspot, and the hotspot will still be AccessPopup by default.
To switch the device to AP mode to establish a hotspot when connected to a known WIFI, open Terminal on the JupyterLab page, enter bash to enter the project folder, and then enter the following command to establish a hotspot.
sudo accesspopup -a
To switch the device from AP mode to STA mode after a known WIFI configuration has been performed, enter the following command to reconnect to the known WIFI.
sudo accesspopup
Note: As long as the WIFI mode is switched, the control interface of the product's main program and the IP address of the JupyterLab page must be refreshed accordingly to be accessible.
nmcli connection show
sudo nmcli connection delete <connection_name>
Note: If you delete a known WIFI that the current device is connected to, the product will automatically create a hotspot after deletion. The hotspot will still be AccessPopup by default. The IP address that accesses the JupyterLab page must be refreshed before it can be used again.
If you are burning an image from method 1, you can enable the SSH service according to this part. The SSH service can still be enabled by entering the JupyterLab page. There are two ways to open the JupyterLab page:
1. After entering the JupyterLab page, click Terminal at the bottom of the page, enter the following command and press Enter to enter the project folder.
bash
2. Enter the following command in the terminal and use the raspi-config official configuration tool to enable the SSH service.
sudo raspi-config
3. Enter the raspi-config tool, use the keyboard arrow keys to select Interface Options up and down, and press Enter.
4. Select SSH and press Enter.
5. Select Yes to enable the SSH service.
6. When the SSH service id enabled, use the left and right arrow keys to select Finish and then exit. Enter sudo reboot to restart the system.
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