Jca at 10:26, 20 April 2026

2026-04-20T10:26:15Z

Jca at 10:22, 20 April 2026

2026-04-20T10:22:42Z

← 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 ==

Jca at 10:16, 20 April 2026

2026-04-20T10:16:11Z

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

Jca: 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..."

2026-04-20T07:31:17Z

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 hardware - Revision history

Jca at 10:26, 20 April 2026

Jca at 10:22, 20 April 2026

Jca at 10:16, 20 April 2026