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@Cartrasche-CreativeProductDesign

Cartrasche

Autonomous Human Following Manufacture Assistant
README.md

Cartrasche

  • 연세대학교 기계공학과 창의제품설계 프로젝트
  • Yonsei University M.E Creative Design Project

cartrasche_logo

Participants

  • 연세대학교 기계공학과 18학번 김원준
  • 연세대학교 기계공학과 18학번 박현진
  • 연세대학교 기계공학과 19학번 장민준
  • 연세대학교 기계공학과 19.5학번 조믿음
  • 연세대학교 기계공학과 21학번 김현준

Specification

Computing Environment

Jetson Nano 4Gb

  • Ubuntu 20.04
  • ROS1 --version Noetic
  • Python --version 3.10.4

Arduino MEGA(ATmega2560)

  • Arduino 1.8.13

Platform Robot

  • 24V 3000rpm BLDC Motor
  • MD200T BLDC Motor Driver
  • BNO-055 IMU Sensor
  • YDLiDAR G4
  • Logitech Webcam

Rotating Tray System

  • 12V NEMA17 Stepper Motor
  • 12V Stepper driven Linear Ball Screw
  • TB6560 Stepper Driver
  • PCA9685 12-channel PWM Driver
  • NEOPIXEL 12 LED_RING

ROSSERIAL-ATMEGA

JETSON -> ARDUINO MEGA

  • Subscribe : /cmd_vel [geometry_msgs::Twist] -> linear.x, angular.z
  • Subscribe : /switch_tray [std_msgs::Int32] -> 1 or 2
  • Publish : /rosduino [std_msgs::String] -> callback msg for received topic
  • Publish : /heartbeat [std_msgs::String] -> heartbeat

Circuit Diagram

SCHEMATIC_V5

Popular repositories Loading

  1. cartrasche_dev cartrasche_dev Public

    Cartrasche ROS Noetic Package

    CMake 2

  2. cartrasche_mcu cartrasche_mcu Public

    Cartrasche motors and peripherals driver with rosserial enabled

    C 1

  3. .github .github Public

  4. CARTRASCHE CARTRASCHE Public

    cartrasche total repository

    CMake 1

Repositories

Showing 4 of 4 repositories

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