Minesweepers_A 2024

Minesweepers Competition'2024 Team A

Team Members:

Team Leaders:

• Mariam Gadallah
• Ahmed Anwar

Software Team Members:

• Noura Maklad
• Mohamed Mahdy

Electrical Team Members:

• Youssef Hatem
• Mahmoud Sayed

Mechanical Team Members:

• Mahmoud Essam
• Alaaeldin Manaa
• Omar Elgamal

Workspaces:

• catkin_ws (Laptop Workspace)
• rpi_ws (Raspberry Pi Workspace)

To-Do List:

• Make the robot move (LEFT Stick or Buttons on the LEFT side)
  • In Progress
  • Done
• Assign buttons for gripper (RIGHT Stick or Buttons on the RIGHT side)
  • In Progress
  • Done
• Mapping
  • IMU Calibration code (Madgwick Filter)
    • In Progress
    • Done
  • Kalman Filter (EKF)
    • In Progress
    • Done
• Mapping GUI
  • In Progress
  • Done
• Streaming
  • In Progress
  • Done
• Launch Files preparation
  • In Progress
  • Done
• Assemble electrical components
  • In Progress
  • Done
• Fabricate mechanical parts
  • In Progress
  • Done
• Assemble mechanical parts
  • In Progress
  • Done
• Test and integrate all components
  • In Progress
  • Done
• Prepare Report and Video
  • In Progress
  • Done
• Prepare for the final presentation
  • In Progress
  • Done
• Line changing color for picking the mine
  • In Progress
  • Done
• Autonomous Gripping (x2 mine collection points)
  • In Progress
  • Done

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Optimizations (Subject to time):

• Use YOLO-Fast (unofficial YOLO Model) instead of YOLOv8n Fast YOLO: A Fast You Only Look Once System for Real-time Embedded Object Detection in Video
• Autonomous Navigation (20 % Bonus)

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How to launch

سمـّي و دوّر

• Start by launching sammy.py on your PC using python3 sammy.py.
• Then, on RPi, launch dawar.py by using python3 dawar.py.

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Notes:

dawar.py is for launching the laptop nodes

• For Arduino ROS lib navigate to the following link:
  • Arduino ROS
• Must add IP for pc in pi host list (/etc/hosts) in the following format: ip username , and vice versa
• For MPU6050 Package (it works for MPU 9250 Also) you have to install this on your RPi:

sudo apt-get install ros-${ROS_DISTRO}-turtle-tf2 ros-${ROS_DISTRO}-tf2-tools ros-${ROS_DISTRO}-tf

Controller Alignemnt