Ricbot: Difference between revisions

Latest revision as of 08:29, 28 April 2026

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 Realsense D435.
Maybe GNSS recording too.
Manual remote control.

@@ Line 13: / Line 13: @@
 * Manual remote control.
-Tentative layout:
+== User support ==
-[[file: ricbot_on-shape.png | 500px]]
+* [[RIC start and stop | Start, drive and stop]]
+* [[RIC data recording | Data recording]]
-Length is 1m, free height 25cm, width 65cm.
+== Installation notes ==
-== Installation notes ==
+* [[Ricbot hardware]]
+* Ricbot installation of [[Ricbot realsense | Realsense]]
-=== Cabling ===
+* [[Ricbot ROS2 | ROS2]] including bridge from MQTT to ROS2 messaging
+* [[Ricbot GNSS | GNSS]] installation, including 'gpsd'
-[[file: ric_cabling.png | 500px]]
+* [[Ricbot PTP | PTP]] time synchronization.
+* Raspberry as [[RICbot Hotspot | hotspot]].
-DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042
-Regbot 6.3: [[Regbot hardware board]]
-=== 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
-==== Library and examples ====
- 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