Ricbot

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

Tentative layout:

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

Installation notes

Cabling

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

Regbot 6.3: Regbot hardware board

5V 5A: | Aliexpress link to device

DRI0042 to Regbot 4-pin PWM

DRI              Regbot PWM
7 GND   (black)  1 GND
4 PWM   (red)    2 in1
5 IN1   (white)  3 in2
6 IN2   (yellow) 4 fault 

DRI

IN1 IN2 PWM OUT1, OUT2 Motor Behavior 0 0 x Stop 1 1 x Vacant 1 0 1 Forward 100% 0 1 1 Reverse 100% 1 0 PWM Forward at PWM speed 0 1 PWM Reverse at PWM speed

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