Gesture_Controlled_Bot

Introduction

This ROS Package contains scripts that will receive yaw data from the imu and publish data to move a differential drive base.

Dependencies

• Python
• Arduino IDE
• ROS
• Rosserial Arduino Library

The package was developend in ROS Noetic

Using MPU 6050 IMU

On an Arduino Uno, the connections are:

• Vcc -> 5V
• Gnd -> Gnd
• SCL -> A5
• SDA -> A4

If a different Microcontroller is used, check the I2C pins of the board

Running the code

• Clone the repository in your local ROS workspace

 git clone https://github.com/namanmore/Gesture_Controlled_Bot.git

• Source the workspace, then

roscore

rosrun rosserial_python serial_node.py /dev/ttyACM0

If the microcontroller is connected on a different port then change ACM0/ACM1

rosrun rosserial_python serial_node.py /dev/ttyACM1

rosrun gesture_bot IMU.py