2 layers69.6 × 75.7 mm
2 layers43.2 × 88.3 mm
SLAM using ROS with Wheel-E
- Size
- 43.2 × 88.3 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 17
- Nets
- 32
- Pads
- 82
- Tracks, vias
- 128, 0
- Pours
- 1
- Routed
- Yes
- KiCad
- KiCad 4
- Created
- 14 Feb 2019
- Updated
- 18 Jan 2020
Overview
Md2 is an open-source printed circuit board by mgrova, from the mgrova/SLAM_Wheel-E repository on GitHub, published under the GPL-3.0 licence. It is a 2-layer board of 43.2 × 88.3 mm with 17 parts on 32 nets, routed with 128 tracks and 0 vias.
It is built around the L293D. Its parts include 14 connectors and 3 ICs.
Main components
1README
README.mdSLAM_Wheel-E
Este es un proyecto en el cual se busca realizar una comparativa de diferentes técnicas de SLAM empleando un robot movil diferencial tipo Rover.
Wheel-E
Un análisis en detalle de todo el proyecto, así como de sus resultados se encuentra (en español) aquí. Los recursos bibliográficos disponibles se pueden consultar en docs/.
DEPENDENCIAS
Uso de lod gpio de la RPi
Se hace uso de la libreria pigpio:(http://abyz.me.uk/rpi/pigpio/download.html)
wget abyz.me.uk/rpi/pigpio/pigpio.tar
tar xf pigpio.tar
cd PIGPIO
make
sudo make installComunicación Serial RPi-Arduino
Se hará uso de la librería de Python:
https://github.com/harmsm/PyCmdMessenger
Destacar que se emplará python2.7 y no python3.
Comunicación multimaster(https://wiki.ros.org/multimaster_fkie)
Para comunicar la RPi y el PC, es necesario tener instalado el siguiente paquete:
sudo apt install ros-kinetic-multimaster-fkie
sudo apt install ros-kinetic-multimaster-launchDrivers Kinect v1 (RGB-D Camera)
Se emplearán tanto los driver necesarios para leer la IMU de la cámara y mover su motor cómo los que permiten que se pueda correr la cámara.
- Drivers Cámara principales
sudo apt install ros-kinetic-freenect-stack<- Driver IMU y motor de la cámara(https://wiki.ros.org/kinect_aux)
sudo apt-get install libusb-1.0-0 libusb-1.0-0-devcd ~/catkin_ws/src
git clone https://github.com/muhrix/kinect_aux.git -b indigo
cd ~/catkin_ws
catkin_makeRTAB-Map SLAM
Se deberan tener instalados los siguientes paquetes de ros y sus respectivas dependencias:
sudo apt-get install ros-kinetic-rtabmap-ros
sudo apt-get install ros-kinetic-octomap-*ORB-SLAM2
Se enlaza directamente al repositorio original. https://github.com/appliedAI-Initiative/orb_slam_2_ros
Parts
17| Qty | Value | Footprint | References |
|---|---|---|---|
| 3 | L293D | Housings_DIP:DIP-16_W7.62mm_LongPads | U1, U2, U3 |
| 3 | M1 | Connectors_Terminal_Blocks:TerminalBlock_Altech_AK300-2_P5.00mm | J2, J8, J12 |
| 3 | M2 | Connectors_Terminal_Blocks:TerminalBlock_Altech_AK300-2_P5.00mm | J5, J9, J13 |
| 3 | mode&en M1 | Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm | J1, J7, J10 |
| 3 | mode&en M2 | Pin_Headers:Pin_Header_Straight_1x03_Pitch2.54mm | J6, J11, J14 |
| 1 | Logic supply voltage | Pin_Headers:Pin_Header_Straight_1x02_Pitch2.54mm | J3 |
| 1 | Power supply voltage | Connectors_Terminal_Blocks:TerminalBlock_Altech_AK300-2_P5.00mm | J4 |
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Questions
How big is the Md2 PCB?
It measures 43.2 × 88.3 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Md2 use?
17 parts, built around the L293D. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Md2 KiCad files?
From the mgrova/SLAM_Wheel-E repository on GitHub, at the commit this page was made from: the board is Hardware/motor_driver_mk2/md2.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.
Can I use the Md2 design in my own project?
Its repository publishes it under the GPL-3.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).