Mr (Mapping Robot)

A low cost mapping robot

About

Mr is a low cost mapping robot that uses ROS2, Slam_Toolbox, micro-ros and a ESP-32. Using only three low cost sensors, lidar, encoder, giroscope

Hardware

Segue informacoes do robo de baixo custo que foi modelado.

Components List

• ESP32-DEV-30P
• DRV8833
• 2 Motor DC
• VL53L0X
• MPU6050
• LM2596
• ULN2003 Driver Board
• 28BYJ48
• 7.4V Battery
• 6 1000uF Capacitors

Eletric Circuit/Schematic

Software Installation

1. Prerequisites

• ROS 2 Humble (Desktop Install recommended)
• Micro-ROS Agent (For ESP32 communication)
• An functional ros2_ws

2. Setup

Create a workspace and clone the repository:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone [https://github.com/YOUR_USERNAME/mapping_robot.git](https://github.com/YOUR_USERNAME/mapping_robot.git)

Installing dependecies

cd ~/ros2_ws
sudo apt update
rosdep install --from-paths src --ignore-src -r -y

colcon build --symlink-install

source install/setup.bash

Usage

you can use the simulator in gz, or the code for our real life robot model!

Simulation

open 3 terminals, source them and go inside the ros2_ws

ros2 launch mapping_robot robot_state_publish.py //terminal 1
ros2 run teleop //terminal 2
ros2 run slam_toolbox //terminal 3

Gazeebo should be looking similar to this: IMAGE

Physical robot

Open 3 terminals, source them and go inside the ros2_ws, in a wife that both the computer and the ESP-32 are connected, configure the name and password of the code inside the micro_ros.cpp

ros2 run connect micro-ros server //terminal 1
ros2 launch mapping_robot real_bridge.py //terminal 2
ros2 run teleop //terminal 3

Rviz should look similar to this: IMAGE