Robot Use Documentation

Wiring

Arduino Mega:

• USB: Connect to Intel NUC
• Arduino GND --> Sabertooth GND
• Arduino VIN --> Sabertooth 5V
• Arduino TX (Any TX pin that isn’t TX0) --> Sabertooth S1

Sabertooth Power:

• Battery + --> Sabertooth B+
• Battery - --> Sabertooth B-
• Motor1 + -->Sabertooth M1A
• Motor1 - --> Sabertooth M1B
• Motor2 + --> Sabertooth M2A
• Motor2 - --> Sabertooth M2B

NUC:

• Powered by personal power supply
• USB to Lidar
• USB to Stereo Camera
• USB to Arduino

ROS Instructions

To run teleoperation, follow these steps:

1. Connect Xbox controller to NUC.
2. Run roscore.
3. Source the workspace using source ~/delivery_bot_ws/devel/setup.bash.
4. Look for ttyACMx in /dev/ as this represents how the NUC sees the Arduino.
5. Run the serial node for the Arduino with rosrun rosserial_python serial_node.py /dev/ttyACMx.
6. Launch the teleoperation with roslaunch delivery_bot teleop.launch.

Dip Switches Configuration

For Power Supply + Single Sabertooth 2x60, use the following dip switch configuration:

• Dip Switches: 101011