Difference between revisions of "2021SpringTeam8"

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* Make use of an Ackermann Steering RC car
 
* Make use of an Ackermann Steering RC car
 
* A camera with at least 30 FPS  
 
* A camera with at least 30 FPS  
* An RPLIdar for collision prevention  
+
* An RPLidar for collision prevention  
 
* A SBC for data processing  
 
* A SBC for data processing  
 
* A PWM for both the servo and stepper motor
 
* A PWM for both the servo and stepper motor
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=== Lidar Mount ===
 
=== Lidar Mount ===
 +
 +
=== Assembly ===
  
 
== Electrical Design ==
 
== Electrical Design ==
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== Software Design==
+
== Software Design ==
 +
 
 
McKinley
 
McKinley
  
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== Results ==
 
== Results ==
 
== Future Plans & Improvements ==
 
== Future Plans & Improvements ==
 +
 +
The team originally planned on using the hector_slam ROS package to map out the environment with the RPLidar. Then the car could instantly localize itself in the room using a combination of AprilTags and ScanMatcher packages. This would have allowed the navigation stack in rviz to be used for setting goal positions and path planning. However, there were some issues integrating the AprilTag and RPLidar transforms together in the rviz environment. Due to time constraints the team decided to use

Revision as of 20:40, 10 June 2021

Team Members

Kennan Gonzales (MAE)

McKinley Souder (ECE)

Cade Wohltman (MAE)


Project Overview

UCSD has access to plenty of robots with autonomous capabilities however, a lot of them are sitting in a lab waiting to be used. Our team aims to implement a ROS package that would allow all of those robots to be of use even when people aren't in the immediate vicinity. To alleviate this issue a room would be setup with a camera such that an individual could log into one of UCSD's robots, deploy their programming package, and when they were done using it our ROS package would launch. Our ROS packaged intends to autonomously navigate itself to a designated location marked with an AprilTag.

Functional Requirements

  • Make use of an Ackermann Steering RC car
  • A camera with at least 30 FPS
  • An RPLidar for collision prevention
  • A SBC for data processing
  • A PWM for both the servo and stepper motor

Hardware Design

Baseplate

Camera Mount

Lidar Mount

Assembly

Electrical Design

Components

  • LiPo Battery
    WiringDiagram.png
  • Battery Monitor
  • Stepper Motor (Throttle)
  • Servo Motor (Steering)
  • Electronic Speed Controller
  • USB Camera
  • RPLidar
  • 12V - 5V Buck Converter
  • Jetson Nano
  • Relay Module & Key Fob
  • LED
  • PWM (16 Channels)



Software Design

McKinley

Dependencies

Results

Future Plans & Improvements

The team originally planned on using the hector_slam ROS package to map out the environment with the RPLidar. Then the car could instantly localize itself in the room using a combination of AprilTags and ScanMatcher packages. This would have allowed the navigation stack in rviz to be used for setting goal positions and path planning. However, there were some issues integrating the AprilTag and RPLidar transforms together in the rviz environment. Due to time constraints the team decided to use