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Serial Protocol
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Desktop APP
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Upload Sketch for NyBoard
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Calibration with Arduino IDE
Serial Monitor
API
💻
serialMaster User Guide
🍓
Raspberry Pi serial port as an interface
🤖
ROS
Nyboard
NyBoard V1_0
NyBoard V1_1
BIBOARD
BiBoard Quick Start Guide
Demo Applications
Communication Modules
Introduction
USB Uploader (CH340C)
Dual Mode Bluetooth
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Extensive Modules
Introduction
Mu Camera
Ultrasonic Sensor
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History
Upload Sketch For NyBoard (software 1.0)
Technical Support
🛠
Supporting Application and Software
FAQ(Frequently Asked Questions)
Useful Links 🕸
🔭
Official Site of Petoi
💿
GitHub of OpenCat
🎪
PetoiCamp (Forum)
Powered By
GitBook
🤖
ROS
ROS Interface
There's also a
ROS wrapper
for developpers to easily connect to the
ROS
environment. It is recommended to use ROS with
Raspberry Pi
.
Using ROS on Raspberry Pi
Currently, it's recommended to install ROS using docker.
install docker on Raspberry Pi (
ref
)
sudo
apt-get
update
&&
sudo
apt-get
upgrade
curl
-fsSL https://get.docker.com -o get-docker.sh
sudo
sh
get-docker.sh
sudo
usermod
-aG
docker
pi
# test installation
docker
run hello-world
prepare workspace
mkdir
-p workspace/src
cd
workspace/src
git
clone https://github.com/PetoiCamp/ros_opencat
cd
ros_opencat
git
submodule init
&&
git
submodule update
cd
..
/
..
/
..
run the container
docker
run -v path/to/workspace:/workspace
\
-it --rm --privileged --network
host
--name ros ros:noetic-robot
source files and build inside the container
cd
/workspace
source
/opt/ros/noetic/setup.bash
catkin_makbase
source
devel/setup.bash
run examples (see
Examples
for more)
rosrun opencat_examples opencat_examples_serial
Using ROS for remote control
Ros is designed with distributed computing in mind. Here's a simple example on how to run nodes on different machines.
on host machine (usually more powerful than Raspberry Pi)
# launch server
roscore
run service node on Raspberry Pi
export
ROS_MASTER_URI
=
http://
<
Host_IP
>
:11311/
rosrun opencat_server opencat_service_node
send command from host
rosrun opencat_examples opencat_examples_client_cpp
Examples
using serial library
rosrun opencat_examples opencat_examples_serial
using ROS service
# start core
roscore
# start service server
rosrun opencat_server opencat_service_node
# examples using oppencat ros service in C++
rosrun opencat_examples opencat_examples_client_cpp
# examples using opencat ros service in python
rosrun opencat_examples opencat_examples_client_py
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Raspberry Pi serial port as an interface
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NyBoard V1_0
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Outline
Using ROS on Raspberry Pi
Using ROS for remote control
Examples