Rsewiki - Recent changes [en]

Ricbot hardware

Jca — Sat, 25 Apr 2026 16:07:54 GMT

On-Off

@@ Line 67: / Line 67: @@
 [[file: ric-power-distribute-ann.png | 500px]]
   Pin        IDC10-pin      Software       Function
 (black)  1              --             GND
@@ Line 72: / Line 73: @@
 (white)  4              LS_0  (A6)     battery voltage  (39k/4.7k)
 (yellow) 6              LS_4  (pin 26) Alive LED
 === Teensy interface ===

File:Ric-power-distribute-ann.png

Jca — Sat, 25 Apr 2026 15:20:36 GMT

Jca uploaded File:Ric-power-distribute-ann.png

New page

File:Ric-regbot-6.3-ann.png

Jca — Sat, 25 Apr 2026 15:20:13 GMT

Jca uploaded File:Ric-regbot-6.3-ann.png

New page

File:Ric-hw-interface-ann.png

Jca — Sat, 25 Apr 2026 15:19:49 GMT

Jca uploaded File:Ric-hw-interface-ann.png

New page

Ricbot hardware

Jca — Sat, 25 Apr 2026 15:15:02 GMT

Cabling

← Older revision		Revision as of 17:15, 25 April 2026
Line 25:		Line 25:

	DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042		DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042

			[[file: ric-hw-interface-ann.png \| 500px]]

			=== Interface board (Regbor 6.3) ===

	Regbot 6.3: [[Regbot hardware board]]		Regbot 6.3: [[Regbot hardware board]]

	[[~~RICBOT~~ Power on-~~off board]] PCB~~		[[file: ric-regbot-6.3-ann.png \| 500px]]

			* a) Power management split into 3 cables
			** 1) To j17: (b1, r1, h1, y1) on power distribution board
			** 2) To j11: (r2, h2, y2) on power management board (temp sensors)
			** 3) To on/off switch
			* b) Motor driver PWM and direction, 3 pins
			* c) Encoder (optical) 4 pins on original 6-pin motor connector.
			* d) IMU (I2C connection)
			* e) Serial (LED-band) Rx8, TX8 (not working with LED-band (not DMA?))

	==== DRI0042 to Regbot 4-pin PWM ====		==== DRI0042 to Regbot 4-pin PWM ====
Line 48:		Line 61:
	0 1 PWM Reverse at PWM speed		0 1 PWM Reverse at PWM speed

	==== Power ~~control =~~===		=== Power distribution ===

			[[RICBOT Power on-off board]] PCB

			[[file: ric-power-distribute-ann.png \| 500px]]

	Pin IDC10-pin Software Function		Pin IDC10-pin Software Function
Line 55:		Line 72:
	3 (white) 4 LS_0 (A6) battery voltage (39k/4.7k)		3 (white) 4 LS_0 (A6) battery voltage (39k/4.7k)
	4 (yellow) 6 LS_4 (pin 26) Alive LED		4 (yellow) 6 LS_4 (pin 26) Alive LED



	=== Teensy interface ===		=== Teensy interface ===

Ricbot GNSS

Jca — Tue, 21 Apr 2026 09:08:04 GMT

Decode and publish

← Older revision		Revision as of 11:08, 21 April 2026
(2 intermediate revisions by the same user not shown)
Line 5:		Line 5:
	Satellite positioning is implemented using a NEO-M9V receiver.		Satellite positioning is implemented using a NEO-M9V receiver.
	The receiver is connected to the navigation Raspberry Pi.		The receiver is connected to the navigation Raspberry Pi.

			Additional installation

			sudo apt install gpsd gpsd-clients libgps-dev

			Support added to teensy_interface (not fully tested) - part of Robobot software.

	=== Decode and publish ===		=== Decode and publish ===
Line 10:		Line 16:
	Using the 'gpsd' publisher. This should be easily interfaced to ROS.		Using the 'gpsd' publisher. This should be easily interfaced to ROS.
	(not implemented yet)		(not implemented yet)

			see: https://kickstartembedded.com/2022/07/23/a-beginners-guide-to-using-gpsd-in-linux/

Network setup

Jca — Mon, 20 Apr 2026 12:34:22 GMT

NTP

@@ Line 222: / Line 222: @@
 The robot's name should be included in the list, but the network may take a while to detect it.
 == NTP ==
 '''Depreciated'''. The Raspberry default time sync now works, also at DTU.
 Network Time Protocol is used to keep clocks in sync.
 Raspberry Pi will start with the date and time of the last proper shutdown, and a few seconds after the network is up, it will sync the clock using NTP.

Ricbot PTP

Jca — Mon, 20 Apr 2026 12:30:57 GMT

Install as a service on the client

← Older revision		Revision as of 14:30, 20 April 2026
(2 intermediate revisions by the same user not shown)
Line 33:		Line 33:
	Start clock master service on eth0		Start clock master service on eth0

	sudo ptp4l -i eth0 -m -2 -s		sudo ptp4l -i eth0 -m -2

	It should be activated as a grand master soon.		It should be activated as a grand master soon.
Line 41:		Line 41:
	Run a PTP test slave (-s) with output to console (-m).		Run a PTP test slave (-s) with output to console (-m).

	sudo ptp4l -i eth0 -m -2 -s		sudo ptp4l -i eth0 -m -2 -s

	After a few minutes, this should yield a time offset on the order of 100 ns.		After a few minutes, this should yield a time offset on the order of 100 ns.
Line 119:		Line 119:
	Also, enable and start this service:		Also, enable and start this service:

	sudo systemctl daemon-reload		sudo systemctl daemon-reload
	sudo systemctl enable ptp4l-client.service		sudo systemctl enable ptp4l-client.service
	sudo systemctl start ptp4l-client.service		sudo systemctl start ptp4l-client.service

	Check the status of the client when all is in place		Check the status of the client when all is in place
	sudo systemctl status ptp4l-client		sudo systemctl status ptp4l-client

Ricbot PTP

Jca — Mon, 20 Apr 2026 12:27:32 GMT

Created page with "Back to Ricbot == PTP == Precise Time Protocol (on Raspberry Pi 5) Assuming 2 Raspberry Pis are connected with an Ethernet cable, and both have an IP on eth0. === Install === Install on both master and slave: sudo apt install linuxptp Verify that there is support on 'eth0'. Should have hardware capabilities: $ ethtool -T eth0 Time stamping parameters for eth0: Capabilities: hardware-transmit software-transmit hardware-receive..."

New page

Back to [[Ricbot]]

== PTP ==

Precise Time Protocol (on Raspberry Pi 5)

Assuming 2 Raspberry Pis are connected with an Ethernet cable, and both have an IP on eth0.

=== Install ===

Install on both master and slave:
sudo apt install linuxptp

Verify that there is support on 'eth0'.
Should have hardware capabilities:

$ ethtool -T eth0
Time stamping parameters for eth0:
Capabilities:
hardware-transmit
software-transmit
hardware-receive
software-receive
software-system-clock
hardware-raw-clock

=== Test time master ===

Start connection to eth0 hardware (as a process in the background)

sudo phc2sys -s CLOCK_REALTIME -c eth0 -w &

Start clock master service on eth0

sudo ptp4l -i eth0 -m -2 -s

It should be activated as a grand master soon.

=== Test time client ===

Run a PTP test slave (-s) with output to console (-m).

sudo ptp4l -i eth0 -m -2 -s

After a few minutes, this should yield a time offset on the order of 100 ns.

Kill the phc2sys on the time server after the client test:
sudo pkill phc2sys

=== Install as a service on Master ===

Most is copied from https://austinsnerdythings.com/2025/02/18/nanosecond-accurate-ptp-server-grandmaster-and-client-tutorial-for-raspberry-pi/.

Create a service file for the connection to eth0:

sudo nano /etc/systemd/system/phc2sys-grandmaster.service

With:
[Unit]
Description=sync PHC with system clock (grandmaster)
After=network-online.target
Wants=network-online.target

[Service]
Type=simple
ExecStart=/usr/sbin/phc2sys -s CLOCK_REALTIME -c eth0 -w
Restart=always
RestartSec=3

[Install]
WantedBy=multi-user.target

Create a service file for the ptp server:

sudo nano /etc/systemd/system/ptp4l-grandmaster.service

With:
[Unit]
Description=Precision Time Protocol (PTP) service (Grandmaster)
After=network-online.target
Wants=network-online.target

[Service]
Type=simple
ExecStart=/usr/sbin/ptp4l -i eth0 -2
Restart=always
RestartSec=3

[Install]
WantedBy=multi-user.target

Enable and start these services

sudo systemctl daemon-reload
sudo systemctl enable phc2sys-grandmaster.service
sudo systemctl enable ptp4l-grandmaster.service
sudo systemctl start phc2sys-grandmaster.service
sudo systemctl start ptp4l-grandmaster.service

=== Install as a service on the client ===

Make a new service file
sudo nano /etc/systemd/system/ptp4l-client.service
With:
[Unit]
Description=Precision Time Protocol (PTP) service (Client)
After=network-online.target
Wants=network-online.target

[Service]
Type=simple
ExecStart=/usr/sbin/ptp4l -i eth0 -2 -m --summary_interval 3
Restart=always
RestartSec=3

[Install]
WantedBy=multi-user.target

Also, enable and start this service:

sudo systemctl daemon-reload
sudo systemctl enable ptp4l-client.service
sudo systemctl start ptp4l-client.service

Check the status of the client when all is in place
sudo systemctl status ptp4l-client

Ricbot

Jca — Mon, 20 Apr 2026 12:26:41 GMT

Installation notes

← Older revision		Revision as of 14:26, 20 April 2026
(One intermediate revision by the same user not shown)
Line 15:		Line 15:
	== User support ==		== User support ==

	* [[RIC start and stop \| Start and stop]]		* [[RIC start and stop \| Start, drive and stop]]
	* [[RIC data recording \| Data recording]]		* [[RIC data recording \| Data recording]]

Line 24:		Line 24:
	* [[Ricbot ROS2 \| ROS2]] including bridge from MQTT to ROS2 messaging		* [[Ricbot ROS2 \| ROS2]] including bridge from MQTT to ROS2 messaging
	* [[Ricbot GNSS \| GNSS]] installation, including 'gpsd'		* [[Ricbot GNSS \| GNSS]] installation, including 'gpsd'
			* [[Ricbot PTP \| PTP]] time synchronization.

Ricbot GNSS

Jca — Mon, 20 Apr 2026 12:20:15 GMT

Created page with "Back to Ricbot == GNSS == Satellite positioning is implemented using a NEO-M9V receiver. The receiver is connected to the navigation Raspberry Pi. === Decode and publish === Using the 'gpsd' publisher. This should be easily interfaced to ROS. (not implemented yet)"

New page

Back to [[Ricbot]]

== GNSS ==

Satellite positioning is implemented using a NEO-M9V receiver.
The receiver is connected to the navigation Raspberry Pi.

=== Decode and publish ===

Using the 'gpsd' publisher. This should be easily interfaced to ROS.
(not implemented yet)

RIC data recording

Jca — Mon, 20 Apr 2026 12:16:17 GMT

Camera data

@@ Line 2: / Line 2: @@
 == Data recording ==
 By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi.
@@ Line 16: / Line 20: @@
 The intention is to adjust the time if GNSS coverage is available, but this has not yet been implemented.

RIC data recording

Jca — Mon, 20 Apr 2026 12:04:55 GMT

Created page with "Back to Ricbot == Data recording == By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi. This will record most of the available data, like: * Odometry * Gyro and accelerometer data from the on-board IMU. * Motor voltage and velocity of each wheel. * MQTT communication * GNSS data (when operational) This data will be on the Pi in this directory /home/local/svn/robobot/teensy_interface/build/log_yyyymmdd_hhmmss The date and time part will b..."

New page

Back to [[Ricbot]]

== Data recording ==

By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi.
This will record most of the available data, like:
* Odometry
* Gyro and accelerometer data from the on-board IMU.
* Motor voltage and velocity of each wheel.
* MQTT communication
* GNSS data (when operational)

This data will be on the Pi in this directory
/home/local/svn/robobot/teensy_interface/build/log_yyyymmdd_hhmmss
The date and time part will be when the interface started. Note that for now, it requires the Pi to be on a public network. If not, the date will be the last proper shutdown date.

The intention is to adjust the time if GNSS coverage is available, but this has not yet been implemented.

Ricbot

Jca — Mon, 20 Apr 2026 12:03:32 GMT

User support

← Older revision		Revision as of 14:03, 20 April 2026
Line 16:		Line 16:

	* [[RIC start and stop \| Start and stop]]		* [[RIC start and stop \| Start and stop]]
			* [[RIC data recording \| Data recording]]

	== Installation notes ==		== Installation notes ==

RIC start and stop

Jca — Mon, 20 Apr 2026 12:02:55 GMT

← Older revision		Revision as of 14:02, 20 April 2026
(4 intermediate revisions by the same user not shown)
Line 1:		Line 1:
	Back to [~~RICbot~~]		Back to [[Ricbot]]

	== Start ==		== Start ==
Line 13:		Line 13:
	* After a while (approx 90 seconds), the small (blue) display on the Teensy board should show the IP of the drive Raspberry Pi (currently named "Saturn").		* After a while (approx 90 seconds), the small (blue) display on the Teensy board should show the IP of the drive Raspberry Pi (currently named "Saturn").

	==~~= Data recording =~~==		== Remote control ==

	~~By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi~~.		The Logitech gamepad marked 'ricbot' should be used.
	~~This will record most of the available data, like:~~
	* Odometry
	* Gyro and accelerometer data from the on-board IMU.
	* Motor voltage and velocity of each wheel.
	* MQTT communication
	* GNSS data (when operational)

	~~This data will be on~~ the ~~Pi in this directory~~		Press the 'back' button to get into manual control. The right joystick controls the driving.
	~~/home/local/svn/robobot/teensy_interface/build/log_yyyymmdd_hhmmss~~		The right-hand switch allows a faster speed when pressed.
	The ~~date and time part will be when~~ the ~~interface started. Note that, for now, it requires that the Pi be on a public network~~.

	The ~~intention is to adjust the time if GNSS coverage is available, but this has not yet been implemented~~.

	== Stop ==		== Stop ==

	To stop and shut down, turn off the on-off switch. There will be a delay of up to 60 seconds before the shutdown is implemented.		To stop and shut down, turn off the on-off switch. There will be a delay of up to 60 seconds before the shutdown is implemented. If still on after 2 minutes, then unplug the battery.

	To stop and ensure the integrity of the logfiles, the Raspberry Pi should be shut down properly.		To stop and ensure the integrity of the logfiles, the Raspberry Pi should be shut down properly.
	The hardware is in place, but the software is not.		The hardware is in place, but the software is not.

RIC start and stop

Jca — Mon, 20 Apr 2026 11:58:15 GMT

Created page with "Back to [RICbot] == Start == Connect the big battery (60Ah 24V) using the read Anderson plug. Turn on the on-off switch on the top of the electronics box. It should now turn on. * The two displays should show battery voltage (between 24.5 and 26.6V). ** The right is the electronics voltage ** The left is the voltage to the motor controllers. This should be off if the emergency switch is pushed. * After a while (approx 90 seconds), the small (blue) display on the Teen..."

New page

Back to [RICbot]

== Start ==

Connect the big battery (60Ah 24V) using the read Anderson plug.

Turn on the on-off switch on the top of the electronics box.

It should now turn on.
* The two displays should show battery voltage (between 24.5 and 26.6V).
** The right is the electronics voltage
** The left is the voltage to the motor controllers. This should be off if the emergency switch is pushed.
* After a while (approx 90 seconds), the small (blue) display on the Teensy board should show the IP of the drive Raspberry Pi (currently named "Saturn").

=== Data recording ===

By default, the Teensy interface (teensy_interface) runs on the Raspberry Pi.
This will record most of the available data, like:
* Odometry
* Gyro and accelerometer data from the on-board IMU.
* Motor voltage and velocity of each wheel.
* MQTT communication
* GNSS data (when operational)

This data will be on the Pi in this directory
/home/local/svn/robobot/teensy_interface/build/log_yyyymmdd_hhmmss
The date and time part will be when the interface started. Note that, for now, it requires that the Pi be on a public network.

The intention is to adjust the time if GNSS coverage is available, but this has not yet been implemented.

== Stop ==

To stop and shut down, turn off the on-off switch. There will be a delay of up to 60 seconds before the shutdown is implemented.

To stop and ensure the integrity of the logfiles, the Raspberry Pi should be shut down properly.
The hardware is in place, but the software is not.

Ricbot

Jca — Mon, 20 Apr 2026 11:38:35 GMT

User support

← Older revision		Revision as of 13:38, 20 April 2026
(3 intermediate revisions by the same user not shown)
Line 14:		Line 14:

	== User support ==		== User support ==

			* [[RIC start and stop \| Start and stop]]

	== Installation notes ==		== Installation notes ==
Line 19:		Line 21:
	* [[Ricbot hardware]]		* [[Ricbot hardware]]
	* Ricbot installation of [[Ricbot realsense \| Realsense]]		* Ricbot installation of [[Ricbot realsense \| Realsense]]
	* [[Ricbot ROS2]]		* [[Ricbot ROS2 \| ROS2]] including bridge from MQTT to ROS2 messaging
			* [[Ricbot GNSS \| GNSS]] installation, including 'gpsd'

Ricbot hardware

Jca — Mon, 20 Apr 2026 10:26:15 GMT

Show changes

Ricbot ROS2

Jca — Mon, 20 Apr 2026 10:26:07 GMT

ROS2

Show changes

Ricbot ROS2

Jca — Mon, 20 Apr 2026 10:25:10 GMT

Created page with "Back to Ricbot == ROS2 =="

New page

Back to [[Ricbot]]

== ROS2 ==

Ricbot

Jca — Mon, 20 Apr 2026 10:24:41 GMT

Installation notes

← Older revision		Revision as of 12:24, 20 April 2026
Line 19:		Line 19:
	* [[Ricbot hardware]]		* [[Ricbot hardware]]
	* Ricbot installation of [[Ricbot realsense \| Realsense]]		* Ricbot installation of [[Ricbot realsense \| Realsense]]
			* [[Ricbot ROS2]]

Ricbot realsense

Jca — Mon, 20 Apr 2026 10:23:09 GMT

← Older revision		Revision as of 12:23, 20 April 2026
Line 37:		Line 37:
	rs-capture		rs-capture
	rs-pointcloud		rs-pointcloud

			=== Intel Librealsense ===

			Installing support for Intel librealsense.

			sudo apt install libssl-dev
			sudo apt-get install freeglut3-dev
			sudo apt-get install xorg-dev
			cd git
			git clone https://github.com/IntelRealSense/librealsense.git
			cd librealsense
			mkdir build
			cd build
			cmake ..

			I also needed to install libusb-1.0-0-dev
			sudo apt install libusb-1.0-0-dev
			This path was not included in the CMakeLists.txt, so I added this line at the beginning of the CMakeLists.txt:

			cd librealsense
			nano CMakeLists.txt
			add
			include_directories( /usr/include/libusb-1.0/ )
			like here:
			cmake_minimum_required(VERSION 3.10)

			set( LRS_TARGET realsense2 )
			project( ${LRS_TARGET} LANGUAGES CXX C )

			# Allow librealsense2 and all of the nested project to include the main repo folder
			set(REPO_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
			include_directories(${REPO_ROOT})
			'''include_directories( /usr/include/libusb-1.0/ )'''

			include(CMake/lrs_options.cmake)
			include(CMake/connectivity_check.cmake)
			...

Ricbot hardware

Jca — Mon, 20 Apr 2026 10:22:42 GMT

← Older revision		Revision as of 12:22, 20 April 2026
Line 83:		Line 83:
	See more details here [[Regbot firmware]].		See more details here [[Regbot firmware]].

	~~=== Intel Librealsense ===~~

	~~Installing support for Intel librealsense.~~

	~~sudo apt install libssl-dev~~
	~~sudo apt-get install freeglut3-dev~~
	~~sudo apt-get install xorg-dev~~
	~~cd git~~
	~~git clone https://github.com/IntelRealSense/librealsense.git~~
	~~cd librealsense~~
	~~mkdir build~~
	~~cd build~~
	~~cmake ..~~

	~~I also needed to install libusb-1.0-0-dev~~
	~~sudo apt install libusb-1.0-0-dev~~
	~~This path was not included in the CMakeLists.txt, so I added this line at the beginning of the CMakeLists.txt:~~

	~~cd librealsense~~
	~~nano CMakeLists.txt~~
	~~add~~
	~~include_directories( /usr/include/libusb-1.0/ )~~
	~~like here:~~
	~~cmake_minimum_required(VERSION 3.10)~~

	~~set( LRS_TARGET realsense2 )~~
	~~project( ${LRS_TARGET} LANGUAGES CXX C )~~

	~~# Allow librealsense2 and all of the nested project to include the main repo folder~~
	~~set(REPO_ROOT ${CMAKE_CURRENT_SOURCE_DIR})~~
	~~include_directories(${REPO_ROOT})~~
	~~'''include_directories( /usr/include/libusb-1.0/ )'''~~

	~~include(CMake/lrs_options.cmake)~~
	~~include(CMake/connectivity_check.cmake)~~
	~~...~~

	== ROS2 ==		== ROS2 ==

Main Page

Jca — Mon, 20 Apr 2026 10:20:59 GMT

Facilities

← Older revision		Revision as of 12:20, 20 April 2026
(One intermediate revision by the same user not shown)
Line 6:		Line 6:

	* [[ASTA\|Autonomous System Testing Arena (ASTA)]]		* [[ASTA\|Autonomous System Testing Arena (ASTA)]]

	* [[ASTA motion capture\|Motion capture (Optitrack)]]		* [[ASTA motion capture\|Motion capture (Optitrack)]]

	* [[uASTA\|μASTA]]		* [[uASTA\|μASTA]]

	* [[Lipo Safety \| Lipo safety]]		* [[Lipo Safety \| Lipo safety]]

	* [[Workshop]]		* [[Workshop]]

	= Robots =		= Robots =

	[[SMR]] (Small Mobile Robot)		* [[SMR]] (Small Mobile Robot)
			* [[UR5]] (Universal Robot UR5 Arm)
	[[UR5]] (Universal Robot UR5 Arm)		* [[UR10]] (Universal Robot UR10 Arm)
			* [[Fieldrobot]] (Fieldrobot)
	[[UR10]] (Universal Robot UR10 Arm)		* [[iRobot ATRV-Jr]]
			* [[TerrainHopper]]
	[[Fieldrobot]] (Fieldrobot)		* [[regbot \| Regbot]] (small robot intended as control-1 exercise)
			* [[Basebot]] is the base version of Regbot for digital control exercises.
	[[iRobot ATRV-Jr]]		* [[robobot B \| Robobot]] A small 4-wheel robot for DTU Robocup.
			* [[SimServer]] Stage-based multi-robot simulator
	[[TerrainHopper]]		* [[Fejemis]] autonomous cleaning
			* [[Capra]] P5
	[[regbot \| Regbot]] (small robot intended as control-1 exercise)		* [[Scorpi]] crane robot.
			* [[Lanciers]] demo robots.
	[[Basebot]] is the base version of Regbot for digital control exercises.		* [[Ricbot]] Wheeled sensor platform for weed detection.

	[[robobot B \| Robobot]] A small 4-wheel robot for DTU Robocup.

	[[SimServer]] Stage-based multi-robot simulator

	[[Fejemis]] autonomous cleaning

	[[Capra]] P5

	[[Scorpi]] crane robot.

	[[Lanciers]] demo robots.

	[[Ricbot]] Wheeled sensor platform for weed detection.


	=== Other projects===		=== Other projects===

	[[Robot dashboard]] - igangværende projekt.		* [[Robot dashboard]] - igangværende projekt.
			* [[Weather monitor]], also including the GNSS 'weather'.
	[[Weather monitor]], also including the GNSS 'weather'.		* [[Claas axion]] (Semi-autonomous heavy tractor)
			* [[Mini40 force/torque sensor]]
	[[Claas axion]] (Semi-autonomous heavy tractor)		* [[Robotiq gripper]]
			* [[Visual Tracking on Pixhawk]] (Position estimation of Pixhawk flight controller with external camera)
	[[Mini40 force/torque sensor]]		* [[3D localization]] based on sensor network

	[[Robotiq gripper]]

	[[Visual Tracking on Pixhawk]] (Position estimation of Pixhawk flight controller with external camera)

	[[3D localization]] based on sensor network

	<!-- [[Magnetic Navigation]] sensor -->		<!-- [[Magnetic Navigation]] sensor -->

Ricbot

Jca — Mon, 20 Apr 2026 10:19:12 GMT

← Older revision		Revision as of 12:19, 20 April 2026
Line 13:		Line 13:
	* Manual remote control.		* Manual remote control.

	~~[[Ricbot hardware]]~~		== User support ==

	Ricbot installation of [[Ricbot realsense \| Realsense]]		== Installation notes ==

			* [[Ricbot hardware]]
			* Ricbot installation of [[Ricbot realsense \| Realsense]]

Ricbot realsense

Jca — Mon, 20 Apr 2026 10:17:52 GMT

Created page with "Back to Ricbot == Intel RealSense == Install sudo apt-get install automake libtool libusb-1.0-0-dev libx11-dev xorg-dev libglu1-mesa-dev sudo apt install libssl-dev There is a script to download and compile, e.g. on Raspberry Pi here: https://github.com/realsenseai/librealsense/blob/master/doc/libuvc_installation.md To install pyrealsense2 at the same time as librealsense, line 46 of the 'libuvc_installation.sh' build script should be changed from this: cmake..."

New page

Back to [[Ricbot]]

== Intel RealSense ==

Install
sudo apt-get install automake libtool libusb-1.0-0-dev libx11-dev xorg-dev libglu1-mesa-dev
sudo apt install libssl-dev

There is a script to download and compile, e.g. on Raspberry Pi here:
https://github.com/realsenseai/librealsense/blob/master/doc/libuvc_installation.md

To install pyrealsense2 at the same time as librealsense, line 46 of the 'libuvc_installation.sh' build script should be changed from this:
cmake ../ -DFORCE_LIBUVC=true -DCMAKE_BUILD_TYPE=release
to this:
cmake ../ -DFORCE_LIBUVC=true -DCMAKE_BUILD_TYPE=release -DBUILD_PYTHON_BINDINGS:bool=true
From MartyG-RealSense on a pose here: https://github.com/realsenseai/librealsense/issues/13373

=== Library and examples ===

This is an alternative to the script above.

cd ~/git
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
mkdir build
cd build
cmake ..
make -j3
sudo make install

Copy udev rules to udev

cd ~/git/librealsense/config/99-realsense*.rules /etc/udev/rules.d/
udevadm control --reload-rules

All example commands start with rs-, e.g.:
rs-capture
rs-pointcloud

Ricbot

Jca — Mon, 20 Apr 2026 10:17:20 GMT

← Older revision		Revision as of 12:17, 20 April 2026
(One intermediate revision by the same user not shown)
Line 14:		Line 14:

	[[Ricbot hardware]]		[[Ricbot hardware]]

			Ricbot installation of [[Ricbot realsense \| Realsense]]

Ricbot hardware

Jca — Mon, 20 Apr 2026 10:16:11 GMT

@@ Line 1: / Line 1: @@
-== Ricbot hardware ==
 Tentative layout:
@@ Line 54: / Line 56: @@
 (yellow) 6              LS_4  (pin 26) Alive LED
 === Teensy interface ===

Ricbot

Jca — Mon, 20 Apr 2026 07:32:02 GMT

Replaced content with " == Ricbot, a wheeled sensor platform == Ricbot is intended for fast deployment to areas of interest. Main features: * Reused motors and wheels from an old "Elector Wheelie" platform * Designed to fit into a normal car for deployment, i.e can be disassembled to no more than 55cm in height. * No more than 25-30 kg, requiring 1 or 2 persons to load or unload. * Wheel-odometry recording (and timestamped) * Camera image recording (and timestamped), the intention is Re..."

Show changes

Ricbot hardware

Jca — Mon, 20 Apr 2026 07:31:17 GMT

Created page with " == Ricbot hardware == Tentative layout: 500px Length is 1m, free height 25cm, width 65cm. == Installation notes == === Camera position === 500px Forward-looking camera: Intel RealSense D455, FOV 87 x 58 deg, range 0.6 to 6m. Down-looking camera: Intel RealSense D435, FOV: 87 x 58 deg, range 0.3 to 3m. === Cabling === 500px DRI0042: https://wiki.dfrobot.com/15A_Sin..."

New page

== Ricbot hardware ==

Tentative layout:

[[file: ricbot_on-shape.png | 500px]]

Length is 1m, free height 25cm, width 65cm.

== Installation notes ==

=== Camera position ===

[[file: ric-camera-position.png | 500px]]

Forward-looking camera: Intel RealSense D455, FOV 87 x 58 deg, range 0.6 to 6m.

Down-looking camera: Intel RealSense D435, FOV: 87 x 58 deg, range 0.3 to 3m.

=== Cabling ===

[[file: ric_cabling.png | 500px]]

DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042

Regbot 6.3: [[Regbot hardware board]]

[[RICBOT Power on-off board]] PCB

==== DRI0042 to Regbot 4-pin PWM ====

DRI Regbot PWM Software
7 GND (black) 1 GND --
4 PWM (red) 2 in1 PIN_xxxx_DIR
5 IN1 (white) 3 in2 PIN_xxxx_PWM
6 IN2 (yellow) 4 fault PIN_xxxx_FAULT
3 5V out

DRI0042 control values
IN1 IN2 PWM OUT1, OUT2 Motor Behavior
0 0 x Stop
1 1 x Vacant (relax)
1 0 1 Forward 100%
0 1 1 Reverse 100%
1 0 PWM Forward at PWM speed
0 1 PWM Reverse at PWM speed

==== Power control ====

Pin IDC10-pin Software Function
1 (black) 1 -- GND
2 (red) 3 LS_1 (pin 27) power off (when low) -- pt not working (wrong mod on power board)
3 (white) 4 LS_0 (A6) battery voltage (39k/4.7k)
4 (yellow) 6 LS_4 (pin 26) Alive LED

=== Intel RealSense ===

Install
sudo apt-get install automake libtool libusb-1.0-0-dev libx11-dev xorg-dev libglu1-mesa-dev
sudo apt install libssl-dev

There is a script to download and compile, e.g. on Raspberry Pi here:
https://github.com/realsenseai/librealsense/blob/master/doc/libuvc_installation.md

To install pyrealsense2 at the same time as librealsense, line 46 of the 'libuvc_installation.sh' build script should be changed from this:
cmake ../ -DFORCE_LIBUVC=true -DCMAKE_BUILD_TYPE=release
to this:
cmake ../ -DFORCE_LIBUVC=true -DCMAKE_BUILD_TYPE=release -DBUILD_PYTHON_BINDINGS:bool=true
From MartyG-RealSense on a pose here: https://github.com/realsenseai/librealsense/issues/13373

==== Library and examples ====

This is an alternative to the script above.

cd ~/git
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
mkdir build
cd build
cmake ..
make -j3
sudo make install

Copy udev rules to udev

cd ~/git/librealsense/config/99-realsense*.rules /etc/udev/rules.d/
udevadm control --reload-rules

All example commands start with rs-, e.g.:
rs-capture
rs-pointcloud

=== Teensy interface ===

The Teensy interface implements a bridge to MQTT, a motor controller (velocity and turn rate), and a remote control.

The configuration is in
/home/local/svn/teensy_interface/build/robot.ini

See also [[Robobot teensy interface]].

=== Start at boot ===

See the similar start setup in [[https://rsewiki.electro.dtu.dk/index.php?title=Enable_autostart#Autostart]].

Comment out (or delete) the start of the camera streamer (not compatible with RealSense 3D cam)

=== Install software on Raspberry Pi ===

Perform the same installation as [[Robobot install on Raspberry]], except for the serial port configuration (which should not be needed).

=== Teensy software ===

This is the Regbot software, configured to match the Ricbot.

See more details here [[Regbot firmware]].

=== Intel Librealsense ===

Installing support for Intel librealsense.

sudo apt install libssl-dev
sudo apt-get install freeglut3-dev
sudo apt-get install xorg-dev
cd git
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
mkdir build
cd build
cmake ..

I also needed to install libusb-1.0-0-dev
sudo apt install libusb-1.0-0-dev
This path was not included in the CMakeLists.txt, so I added this line at the beginning of the CMakeLists.txt:

cd librealsense
nano CMakeLists.txt
add
include_directories( /usr/include/libusb-1.0/ )
like here:
cmake_minimum_required(VERSION 3.10)

set( LRS_TARGET realsense2 )
project( ${LRS_TARGET} LANGUAGES CXX C )

# Allow librealsense2 and all of the nested project to include the main repo folder
set(REPO_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
include_directories(${REPO_ROOT})
'''include_directories( /usr/include/libusb-1.0/ )'''

include(CMake/lrs_options.cmake)
include(CMake/connectivity_check.cmake)
...

== ROS2 ==

From https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html

Install
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')

curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"

sudo dpkg -i /tmp/ros2-apt-source.deb

sudo apt update && sudo apt install ros-dev-tools

Install full ROS2 Jazzy

sudo apt install ros-jazzy-desktop

Start in this ROS2 environment, now and in new terminals:
source /opt/ros/jazzy/setup.bash
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
export ROS_DOMAIN_ID=0
echo "export ROS_DOMAIN_ID=0" >> ~/.bashrc

Install ROS QT GUI stuff
sudo apt install '~nros-jazzy-rqt*'

=== Create workspace ===

From https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html

Install colcon
sudo apt install python3-colcon-common-extensions

Create workspace directory
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws

From within this directory clone (any) standard package

e.g. tutorial examples
git clone https://github.com/ros2/examples src/examples -b jazzy

Build the examples; this is memory and CPU-hungry, so the option ''--executor sequential'' may come in handy, especially on a Raspberry Pi, but it will take significantly longer.
colcon build --symlink-install --executor sequential

Allow use of colcon_cd
echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
echo "export _colcon_cd_root=/opt/ros/jazzy/" >> ~/.bashrc

To use the ''mixin'' shortcut for some colcon options, add:
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

=== MQTT client ===

The un-modified ''mqtt_client'' package can act as a bridge between the ''teensy_interface'' and the ROS domain.

From MQTT to ROS, the translation is using the primitive ROS type ''string'' for the parameters of the ''teensy_interface'' messages.
The MQTT topic name is translated to ROS topic names as specified in the parameter file below.

From ROS to Teensy, the message should be published on a topic that matches the desired destination.
Topics for command messages to the ''teensy_interface'':
* MQTT topic ricbot/cmd/T0 for the Teensy, the message is the string to send to the Teensy.
* MQTT topic ricbot/cmd/shutdown to schedule a shutdown of the RICBOT (power off), something like 20 seconds after the message.
* MQTT topic ricbot/cmd/ti for messages to the teensy_interface, the message is a string.

==== Install ====

The robot's interface is via MQTT. Install the MQTT ROS client
sudo apt install ros-jazzy-mqtt-client

Or directly as source
cd src
git clone https://github.com/ika-rwth-aachen/mqtt_client

Compile:
cd ~/ros2_ws
colcon build

==== Run MQTT_client ====

To start the ''mqtt_client'':
cd ros2_ws/src/mqtt_client/mqtt_client/config
ros2 launch mqtt_client standalone.launch.xml params_file:="params.teensy.yaml"
The parameter file should be extended with more ''mqtt2ros'' topics as needed.

This will launch the un-modified ''mqtt_client'' node with specific bridge parameters as specified in ''params.teensy.yaml'':
/**/*:
ros__parameters:
broker:
host: localhost
port: 1883
tls:
enabled: false
client:
id: ros
clean_session: true
keep_alive_interval: 20.0
bridge:
ros2mqtt:
ros_topics:
- /teensy/cmd/T0
- /teensy/cmd/shutdown
- /teensy/cmd/ti
/teensy/cmd/T0:
mqtt_topic: ricbot/cmd/T0
primitive: true
inject_timestamp: false
/teensy/cmd/shutdown:
mqtt_topic: ricbot/cmd/shutdown
primitive: true
inject_timestamp: false
/teensy/cmd/ti:
mqtt_topic: ricbot/cmd/ti
primitive: true
inject_timestamp: false
mqtt2ros:
# Needs to be expanded to relevant topics
mqtt_topics:
- ricbot/data/T0/info
- ricbot/data/T0/hbt
ricbot/data/T0/info:
ros_topic: /teensy/T0/info
primitive: true
ricbot/data/T0/hbt:
ros_topic: /teensy/T0/hbt
primitive: true

=== Test interface ===

Start the ''teensy_interface'' with the right ini-file:
cd ~/svn/robobot/teensy_interface/build
./teensy_interface -z ricbot.ini

This should respond with something like:
$ ./teensy_interface -z ricbot.ini
# UService:: created directory log_20260118_083120.745/
# UMqtt:: connection to MQTT broker on tcp://localhost:1883 established
# UMqttIn:: connection to MQTT broker on tcp://localhost:1883 established
# STeensy:: opening to USB /dev/ttyACM0
# SRobot:: (t0) found IP 0: eno1 192.168.2.157
# STeensy:: just connected
# UService:: setup of Teensy 0 modules finished OK.
# Type quit to stop, or 'h' for help

Start the ''mqtt_client'' in ROS
cd ~/svn/ricbot/ros_config
ros2 launch mqtt_client standalone.launch.xml params_file:="params.teensy.yaml"

==== From MQTT to ROS ====

There should now be ''hbt'' (heartbeat) message on the ROS side:
ros2 topic echo /teensy/T0/hbt

This should give something like:
data: '1768722645.7425 1738.4885 93 1748 4.85 0 9 18.1 0 0
'
---
data: '1768722646.2426 1738.9885 93 1748 4.85 0 9 18.0 0 0
'
---
data: '1768722646.7431 1739.4885 93 1748 4.85 0 9 18.0 0 0
'
---

The data is: timestamp (host), timestamp Teensy, Teensy ID, version, battery voltage, ... (the rest depend on the platform).

==== From ROS to MQTT ====

e.g. make the robot drive with velocity 0.25m/s and turn 0.1 rad/s CCV, followed by stop:

ros2 topic pub /ricbot/cmd/ti std_msgs/String 'data: rc 0.25 0.1'
ros2 topic pub /ricbot/cmd/ti std_msgs/String 'data: rc 0 0'

Or send a request to publish gyro data every 12ms:

ros2 topic pub /ricbot/cmd/T0 std_msgs/String 'data: sub gyro 12'

== (RIC_pkg) HW sensor translate package ==

Create the package in the workspace.

cd ~/ros2_ws/src
ros2 pkg create --build-type ament_cmake --license MIT --node-name ric_node ric_pkg

Add dependencies to other packages to CMakeLists.txt.
Add to the list of ''find_package''

find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)

Make target dependencies available in the include path (and elsewhere as needed).

Add this after the ''add_executable''
ament_target_dependencies(talker rclcpp std_msgs nav_msgs sensor_msgs geometry_msgs)

To the package description ''package.xml'' add dependencies:

Add just after the ''buildtool_depend'' section:
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>nav_msgs</depend>
<depend>sensor_msgs</depend>
<depend>geometry_msgs</depend>

=== RIC_node code ===

The code in ''ris_node.cpp'' is pt this (not functional yet):

#include <cstdio>
#include <chrono>
#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "std_msgs/msg/int32.hpp"
#include <nav_msgs/msg/odometry.hpp>
#include "geometry_msgs/msg/twist.hpp"

class RIC_translator : public rclcpp::Node
{
public:
RIC_translator()
: Node("minimal_publisher"), count(0)
{
publisher_ = this->create_publisher<std_msgs::msg::String>("/ric/hbt", 10);
//
// Heartbeat
auto topic_callback =
[this](std_msgs::msg::String::UniquePtr msg) -> void {
// RCLCPP_INFO(this->get_logger(), "I heard: hbt '%s'", msg->data.c_str());
// strncpy(hbtParams, msg->data.c_str(), 100);
printHbt(msg->data.c_str());
};
subsHbt =
this->create_subscription<std_msgs::msg::String>("/teensy/T0/hbt", 10, topic_callback);
}
private:
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr odo_;
size_t count;
//
char hbtParams[100] = "";
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subsHbt;
void printHbt(const char * msg)
{
printf("# %lu got hbt %s", count, msg);
snprintf(hbtParams, 100, "Hello RIC %lu %s", count++, msg);
auto message = std_msgs::msg::String();
message.set__data(hbtParams);
this->publisher_->publish(message);
}
};

int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<RIC_translator>());
rclcpp::shutdown();
return 0;
}

=== Run RIC_node ===

Compile (from workspace)
colcon build --packages-select ric_pkg

Then add it to the path
source install/setup.bash

and run
ros2 run ric_pkg ric_node

If the ''teensy_interface'' and the ''mqtt-client'' are also running, then (with the code above), it should print something like this on the console.
# 0 got hbt 1769340959.8623 13504.9463 105 1033 15.65 4 8 8.9 0.27 0
# 1 got hbt 1769340960.3625 13505.4463 105 1033 15.65 4 8 8.8 0.28 0
# 2 got hbt 1769340960.8626 13505.9453 105 1033 15.65 4 8 8.8 0.27 0
# 3 got hbt 1769340961.3622 13506.4463 105 1033 15.65 4 8 8.9 0.28 0
# 4 got hbt 1769340961.8625 13506.9463 105 1033 15.65 4 8 8.9 0.25 0
# 5 got hbt 1769340962.3631 13507.4453 105 1033 15.66 4 8 8.9 0.26 0
# 6 got hbt 1769340962.8624 13507.9463 105 1033 15.63 4 8 8.8 0.26 0

=== Ros2 relevant messages ===

One of the messages are probably ''twist'':
ros2 interface show geometry_msgs/msg/Twist
# This expresses velocity in free space broken into its linear and angular parts.
Vector3 linear
float64 x
float64 y
float64 z
Vector3 angular
float64 x
float64 y
float64 z

=== Where from here ===

Search for tutorials in https://docs.ros.org/en/jazzy/

Ricbot

Jca — Mon, 20 Apr 2026 07:30:44 GMT

← Older revision		Revision as of 09:30, 20 April 2026
Line 12:		Line 12:
	* Maybe GNSS recording too.		* Maybe GNSS recording too.
	* Manual remote control.		* Manual remote control.

			[[Ricbot hardware]]

	Tentative layout:		Tentative layout: