Control Robot Arm with Raspberry Pi | ROS2
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- เผยแพร่เมื่อ 12 ม.ค. 2024
- Hacker Twin's trusty robot arm Desk Buddy is upgraded from an Arduino Uno to a Raspberry Pi. We control the Raspberry Pi from a laptop over a local network with ROS2!
Checkout the code for controlling Desk Buddy on GitHub
github.com/doeswork/stepper_m...
I wanted to become a Robotics Engineer, thank you for encouraging me a lot
You got this!
Very cool! I always love looking for new projects. One question, though: I just built an RC car with a Raspberry Pi controlling the outputs. I encountered a similar issue with the servo twitch. Do you have any ideas on how to fix that? Thanks for the inspiration!
Usually its a bad universal ground connection, or not enough power. Check that every negative wire is connect to each other. Next add more power, even if you have to plug it into the wall just to test. Then probe voltage during operation and see if you are getting a voltage drop on the PI. You might need a capacitor or buck converter to keep raspberry pi voltage consistent.
@@hackertwins Cool! Thanks for the info. I just added a 100 uF capacitor to the circuit and that did helped with my issue. I think the spike in current is dropping the voltage through my buck converter.
Nice video. I have one question about the code to control it. So, we have a publisher (laptop) and a listener (RPI). Is the entire code stored on the development machine? If not, do you write the code via SSH to storage at RPI?
The code is both on the Raspberry Pi and my Laptop, its the same exact code too! It works because both machines are running ubuntu OS with ROS2 installed. Here's the repo github.com/doeswork/stepper_motor. Both my machines are set to listen/talk to nodes over the network `export ROS_LOCALHOST_ONLY=0`. I go into a bit in this video where I install ROS2 th-cam.com/video/s7DQPL3VZfg/w-d-xo.html
@@hackertwins Ok. So, if I understood you correctly, you develop your code on the dev machine (laptop). Next, you push it to GitHub, and then you clone/(sudo apt update -> sudo apt upgrade) the repository to RPI. Next step is testing (check sensor values(gpio) and control actuators). Does it look like what I wrote?