This is a hoverboard robot inspired by the work of https://github.com/EFeru/hoverboard-firmware-hack-FOC and his modifications to the hoverboard controller.
Also to Norbert for his work https://homofaciens.de/technics-robots-R15-construction_en.htm and help with the CAD.
And finally the great videos by Josh Newans https://www.youtube.com/c/ArticulatedRobotics which got me from zero to a working ROS2 robot in about 5wks!

Thank-you to all you guys!

Useful Notes

More for my own memory than anything else!

ROS2 Install

https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers sudo apt install ros-humble-xacro

colcon build --symlink-install colcon build --symlink-install --packages-select ros2_hoverboard_hardware

Normal run

On bot run

ros2 launch hb_bot launch_robot.launch.py

On host run - set use_local_gamepad false when running with "ros-ui-react"

ros2 launch hb_bot gamepad.launch.py use_local_gamepad:=true

Run Teleop twist stand alone

ros2 run teleop_twist_keyboard teleop_twist_keyboard -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

PI camera

Add ROS camera driver

sudo apt install libraspberrypi-bin v4l-utils ros-humble-v4l2-camera

Add to video group

sudo usermod -aG video andrew

Add ROS image transports

sudo apt install ros-humble-image-transport-plugins

Check camera

vt_cgencmd gecamera

Use to stream camera from pi - test

raspistill -k

Check video for linux

v4l2-ctl --list-devices

Run ROS camera standalone

ros2 run v4l2_camera v4l2_camera_node --ros-args -p image_size:="[640,480]" -p camera_frame_id:=camera_link_optical

ROS image viewer

ros2 run rqt_image_view rqt_image_view

Lidar

Build YLidar SDK

git clone https://github.com/YDLIDAR/YDLidar-SDK.git
cd YDLidar-SDK/
mkdir build
cd build
cmake ..
make
sudo make install

Download ROS2 driver for YLidar

git clone https://github.com/rekabuk/ydlidar_ros2_driver.git

laser filters

sudo apt-get install ros-humble-laser-filters

FoxGlove

sudo apt install ros-humble-rosbridge-suite

run ROS2 bridge

ros2 run rosbridge_server rosbridge_websocket

Run ROS2 bridge with debug and rosapi

ros2 run rosbridge_server rosbridge_websocket DEBUG=ros2-web-bridge* node bin/rosbridge.js

Then run the ROS API node

ros2 run rosapi rosapi_node

RPi

Monitor WiFi strength

watch -n1 iwconfig

List available WiFi

nmcli dev wifi or sudo iwlist wlp1s0 scan | grep ESSID

Driver for RealTek 8188FU USB WiFi dongle https://github.com/kelebek333/rtl8188f

Gamepad

Check this video for details below https://www.youtube.com/watch?v=F5XlNiCKbrY

Install Gamepad drivers sudo apt install joystick jstest-gtk evtest Run test and find Gampad evtest Use jstest to get a better idea of whats working can be used to look at gamepad using "old driver" jstest-gtk

Find the ROS2 device ID ros2 run joy joy_enumerate_devices

ros2 run joy joy_node

Now in second widow run this command to echo the topic ros2 topic echo /joy Use this to show the parameters ros2 topic echo /joy

I had some issues with sound not working when gamepad plugged in Fixed this usuing pavucontrol apt install pavucontrol Then use pavucontol to disable the gamepad audio pavucontrol Use the conf window in pavucontrol

Tablet Teleop ros-ui-react

RPi - old Separate start command lines

ros2 run web_video_server web_video_server ros2 launch hb_bot launch_robot.launch.py

RPi - New version will start web_video_server if param set to true

ros2 launch hb_bot launch_robot.launch.py use_camera_web_server:=true

js_gtk

Dev Disable gamepad_node in gamepad.launch.py

ros2 launch hb_bot gamepad.launch.py use_local_gamepad:=false ros2 run rosbridge_server rosbridge_websocket rosbridge_socket rosbridge_socket.py cd ~/ros_ui-react/example npm start

game SLAM

sudo apt install ros-humble-slam-toolbox

ros2 launch slam_toolbox online_async_launch.py params_file:=./src/hb_bot/config/mapper_params_online_async.yaml

RPI GPIO

Pi GPIO https://abyz.me.uk/rpi/pigpio/download.html

wget https://github.com/joan2937/pigpio/archive/master.zip unzip master.zip cd pigpio-master make sudo make install

Using the deamon version otherwise the compiled program has to be run as sudo - which is a pain for ROS So we use cronjob to start pigpiod deamon on startup

sudo crontab -e The add this line to file @reboot /usr/bin/chrt -r 99; /usr/local/bin/pigpiod

RPI I2C

Removed R8 and R9 5V pullups on BNO055 to prevent damage to RPI4. I believe RPI4 has on board 1K8 pullups to 3v3

https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/downloads

Need the driver for I2C

sudo apt-get install -y i2c-tools libi2c-dev

Use this to check for I2C devices on bus 1

sudo i2cdetect -y 1

https://github.com/fm4dd/pi-bno055

ROS2 driver

https://github.com/bdholt1/ros2_bno055_sensor

Need to rotate bot in 3 dimensions to acheive calibration - need to load from file somehow???

FOXGLOVE

Create extension

https://foxglove.dev/blog/building-a-custom-react-panel-with-foxglove-studio-extensions

Install "Yarn" to compile extension

sudo apt-get install yarn =======

Foxglove

After getting extension from git, use this to get all the libraries

npm install