Autonomous Rover From Scratch (ROS) Part 2
Переглядів 73,054
День томуWelcome to Part 2 of making an Autonomous robot from scratch using ROS.
This ultra-long episode covers a lot of stuff. We finally finish writing the Arduino sketch for the hardware. We briefly understand what ROS is, why it was formed and how it works. We look at the kinematics of a differential-drive robot and implement the differential-drive package in a ROS workspace.
Liked the video? Please drop a like.
I would love to hear feedback in the comments below.
Also, subscribe and check out the channel for more content!
The code used in the video -
github.com/vinay-lanka/navbot...
ROS Installation -
wiki.ros.org/melodic/Installation
ROS Network Setup -
wiki.ros.org/ROS/NetworkSetup
Missed a link? Lemme know in the comment section below.
Music used in the video -
Honey (Prod. Kid Polo)
Rarin Instrumental (Prod. GTA)
@TheRealFrankWizza 2 роки тому
This doesn't look as complicated as I thought it was. Thanks!
@dignadicesj 2 роки тому
Thanks for the quality content, man! Excellent explanations of concepts.
@surajchess3114 2 роки тому
Best video on this topic on whole UKposts I have found till now
@VivekGuptaIn 3 роки тому
Great Build Man! and great explanation as well!
@deekshavinjamuri1331 3 роки тому
Well explained, thanks for making this, good luck! Also, please make that ARM video, looking forward to it!
@gowthamgowtham8587 2 роки тому
look Amezing , what a clear cut of words congratulations looking forward more like interfacing lider then stack navigation then ros control . keep doing
@whtsp_ig_shorts_india 2 роки тому
Great explanation, thank you
@WIZURAI-AGV Рік тому
Great instructional video and quite clear. Thanks!
@MK-9519 2 роки тому
Thanks for your detailed information , waiting for 3rd video
@jjadams2850 3 роки тому
Very well produced content
@JoshKindhart Рік тому
Super helpful! Thank you!
@antonioconsiglio95 2 роки тому
Very worthfull time spend to watch, thanks for sharing 👍 .
@FenilJainBCE 3 роки тому
Looks slick
@jadenngo1941 2 роки тому
Love the videos. Keep it up!
@vishnub9165 3 роки тому
Great content man
@user-rg2dn1ns1h 5 місяців тому
Where is part 3?
@vetriselvan7759 2 роки тому
Kindly upload the part 3!
@markojosuepuchurilopez7564 10 місяців тому
Hi man, I think it is too late, but what incredible video. You should keep doing these kind of videos. Excellent !!!!!! I would like to know how do you program the lidar.
@JayasuryaaGR 2 роки тому
Nice useful video. Thankyou so much
@theh0lycow 5 місяців тому
Thank you so much, helped a lot
@jihadbader Рік тому
Thank you, the SLAM part please. :D
@humanoid91 Рік тому
This was an interesting series! everything was well explained! good job! What about a part 3?!
@pratikhrohane4410 2 роки тому
Nice Content, waiting for more tutorials...
@neverback4221 2 роки тому
It's been exactly 2 months. I am waiting.
@mavencheong 2 роки тому
hi, when the next episode will get release? Can't wait for it.
@talhakhalid6381 2 роки тому
well described but can you define the wireless connectivity you implemented on this project?
@amrshaheen3018 3 роки тому
Finally 🤩
@dibyasankhakundu9147 2 роки тому
Hi can you pit some links for learning and understanding the PID controller and also about two drive wheel kinematics formula. Thanks in advance.
@user-xi8yr3fq3t 9 місяців тому
Please next part
@JohnMacGuy 2 роки тому
Great video up to the point of trying to clone differential-drive. The link in your comment went to the hardware code...no differential drive. The github clone in your video did not exist. Since this is an essential part of making this project work, where can I find the differential-drive github URL?
@bgowtham217 4 місяці тому
Hi really good explanation but I have one doubt. For controlling motor drive and Ros Raspberry Pi is enough but why your using pi and ardunio boards?
@ketanjain-sp7pi Місяць тому
hey great project u have built here. can you tell how u have learnt all these various concepts, like ROS, rasberry pi and all. Please suggest me as im beginner.
@jeff-oi7cl 2 роки тому
new subscriber!
@mrabbot-iit1908 10 місяців тому
bhaiya how to begin ros as a beginner and how to implement it in hardware please tell, I am doing mechatronics engineering at IIT Bhilai.
@DevGhiya Місяць тому
Hi, the robot looks cool. Could you provide some resources from where I can learn about the electronics part of robotics? Your help would be greatly appreciated
@stilus3d323 Рік тому
Coloque o esquema diagrama de ligações das shild. Excelente projeto parabéns.
@vinodkinoni4863 2 роки тому
nice tut plz more vdo
@divyaprakashbiswas8781 Рік тому
Thanks for sharing. I looked into the differential_drive ROS package. I found the twist_to_motors node and pid_velocity node also. If I use those nodes, I don't need to implement PID in the Arduino sketch, right? Is there any specific reason you didn't use them in this project?
@malof.5290 Місяць тому
That's a very good question 🤔
@KanagachidambaresanGR Рік тому
HI., thanks for the great content.,., I am working on RPLIDAR based hector slam.,., i am missing in integrating with gpio and motor connection part also to serve predefined map to localize to particular location., can you help or post new video on this??
@longnguyen-mr1im 2 дні тому
Can you give more instructions on mapping with lidar?
@jacobbaehr7874 Рік тому
Why do you need to use both a raspberry pi and another computer with a ros installation and a ws? cant you just SSH into the PI through windows and start scripts that way?
@abdulmajidbabale2610 2 роки тому
Hey @Vinay Lanka, pls can I get the link to order that LiDar ?
@christopherlazo2064 Рік тому
Hello, would this be possible in STM32 instead of arduino?
@theoldknowledge6778 2 роки тому
Amazing video! Even without a LIDAR, is it possible to the robot to return to home position backtracking its path?
@theoldknowledge6778 2 роки тому
Easily…?
@deviprasadp3391 2 роки тому
Power Banks Come with 12v,1.5A port, so why the use boost converter?
@manavt2000 2 роки тому
Please suggest some resources to learn ROS
@user-ug2in4dm2x 8 місяців тому
Hi,Does your project need radar?
@s.murtazahussain3029 Рік тому
do you have the schematic diagram of ardiuno to motor driver wiring ??? if you have give it to me thanks!!
@anaskhairan4195 9 місяців тому
How u use rviz without vnc server? Isthat raspberry connect to your monitor with wireless? Iam sorry iam newbie
@ssaniljainn 2 роки тому
How did you use the teleop with the hardware of the motors? You wrote a code using arduino for making the wheels work, but then directly launched the teleop through the rpi. Did not understand that part.
@pranavshevkar269 2 роки тому
teleop_twist_keyboard publishes to /cmd_vel topic. In the arduino code, it is subscribed to this topic and the message is decoded to move the motors.
@JohnMacGuy 2 роки тому
Any of the folks following this that made it work, could you post the github link for differential-drive? Many thanks.
@junaideqbal2383 Рік тому
@VinayLanka when you will upload part 3?
@akumal5819 2 роки тому
i want to learn ros but I rally hate raspberry pi. can we make ros robot using only windows 10 laptop and arduino without raspberry pi ?
@RC_Ira 7 місяців тому
🤩💥💯👍🌟
@Mr.042k 3 роки тому
Bro which is better to have ubuntu server or ubuntu desktop running on raspberry Pi ? I'm using kinect for mapping
@vinaylanka 3 роки тому
If you're comfortable with working in a terminal environment I'd suggest using the ubuntu server. I'd also suggest going for a ROS Master-Slave combination as you're using a kinect and that takes a lot of resources.
@vjpanda 2 роки тому
Need part 3 also Can you Help
@ssaniljainn 2 роки тому
Also, I have 2 more questions: 1. I wanted to know how I can use python instead of C++? 2. Can the bot work without the use of the encoders? I have an RPLidar, and in the past, I have been able to use SLAM by also realizing its pose estimation and localisation, too. I am hoping to use just that instead of encoders. Just not sure how.
@pranavshevkar269 2 роки тому
Yes, You can impliment it without the use of encoders and use Hector slam. But without encoders, it is difficult to control the direction since the motors are not always accurate.
@gufransabri9012 2 роки тому
demand_speed_right = demandx + (demandz*0.1075); in this line, you used the formula you talked about in the video. Do i have to change the 0.1075 value according to my robot's length? Thanks
@pranavshevkar269 2 роки тому
Yes, you have to change that value according to your robot geometry. After calculations it is equal to (distance between two wheels in meters)/2
@ravindraditama136 3 роки тому
Great works! but how to combine the odom with LiDAR or any sensor? to make it closed loop
@vinaylanka 2 роки тому
That would come in the next video, Part 3 of this series. We use the gmapping package for mapping and move_base for navigation
@ravindraditama136 2 роки тому
@@vinaylanka god bless you, im waiting the part3 because i can't sync the hardware to the rviz, thanks a lot, appreciate it
@dutahasta4428 2 роки тому
@@vinaylanka when will part 3 be published?
@agrimekatronik321 Рік тому
@@vinaylanka Publish please part 3, you explain so nice everything.
@whac-a-robot Рік тому
Can you tell me how to tune PID?
@akumal5819 2 роки тому
Ros robot needs wifi to function after complete? Or offline as well?
@vinaylanka 2 роки тому
Right now I've used a Raspberry Pi 3B and a laptop together over wifi because I wasn't sure that the Pi 3 can handle the navigation stack. With a Raspberry Pi 4 or any other powerful SBC, you can completely power it offline (i.e. without WiFi)
@naseefak6806 3 роки тому
Thank you for this video. please update your github repo...
@vinaylanka 3 роки тому
Yeah I'll update the repository soon, I'm actually working on a few changes, so I didn't want to include any breaking changes.
@aminfirdaus3279 2 роки тому
please do the part 3
@aminfirdaus3279 2 роки тому
i need to know how to link camera input with the movement of the dc motor
@71_a_siddharthjadhav70 2 роки тому
Can you just share the circuit diagram of the connections?
@wc-jai667 2 роки тому
hey man, did change /lwheel and /rwheel to single topic /speed?
@pranavshevkar269 2 роки тому
The code in github publishes to /speed which is not yet updated. Please make changes to the arduino code by carefully following the video so as to publish to /lwheel and /rwheel topic
@wc-jai667 2 роки тому
@@pranavshevkar269 🥲 took a day to figure it out.... btw I finished my project in a month after that comment posted, anyway thank you for replying
@agrimekatronik321 Рік тому
@@wc-jai667 Can you please share the changed code? Did you add lidar to your system? Thanks.
@edupedika 3 місяці тому
nice video while working the same code in uno not getting the encoder reading for one motor . D2,D3 pins are working fine for one motor but another motor is not working with other pins .can any one help
@100ksubspleasesubtomychann4 2 місяці тому
Yeah cuz arduino uno just has 2 pins that can support encoders which is 2 and 3 so if you want more upgrade to arduino mega
@praveenbharati3032 2 роки тому
Where is complete project
@user-zv2qx5tx6n Рік тому
How much cost of this project?
@Bablukhan-is4ox 2 роки тому
Paddad se
@rushabhkulkarni363 2 роки тому
you sure the equations you gave are correct? not working in my situation!
@yahinjose4036 Рік тому
Can you please share the motor name and model number.
@neverback4221 2 роки тому
I did everything the same. but there is no change in my rviz screen. what is the reason for this? base_link and odom are in place. it doesn't move.
@pranavshevkar269 2 роки тому
I faced the same problem. The code in github publishes to /speed which is not yet updated. Please make changes to the arduino code by carefully following the video so as to publish to /lwheel and /rwheel topic.
@agrimekatronik321 Рік тому
@@pranavshevkar269 Hello bro,did you add lidar in your robot,can you help me?
@pranavshevkar269 Рік тому
@@agrimekatronik321 Sure, what's the problem
@agrimekatronik321 Рік тому
@@pranavshevkar269 Thanks a lot for reply,what is the next step of this video to do mapping and autonomous navigation.Do we need to write more scripts? Can you tell me steps to do mapping and navigation.I mean if we clone gmapping and move_base packages can we do mapping and navigation? And i read in gmapping documentation that he needs a transform from laser to base_link(fixed),how can i do that. Thanks again.
@yasirurasanjaya7809 Рік тому
I have same problem.. I cant understand your solution @@pranavshevkar269 .Can you please tell that again
@ahmetakkaya738 2 роки тому
odom just revolves around base_link,what is the reason?
@pranavshevkar269 Рік тому
In RViz, make Odom as the fixed link
@vikasverma8668 2 роки тому
Hii brother I want to learn ros please help me
@ahmetakkaya738 2 роки тому
I can't see my move on rviz also different code on youtube and github
@ahmetakkaya738 2 роки тому
please someone help me
@agrimekatronik321 Рік тому
@@ahmetakkaya738 Did you solve the problem?
@neverback4221 2 роки тому
Please get new video in 2-3 days.
@edupedika 24 дні тому
It's not autonomous controlling through teleop how to make autonomous.. this
@vsrinivasan7509 2 роки тому
bro next video???????
@vinaylanka 2 роки тому
Hey, I'm sorry for the delay. I'm a final year student and the final semester project workload is keeping me busy :/ The project is over and the next video is being filmed but it's taking longer than expected :(
@vsrinivasan7509 2 роки тому
@@vinaylanka Bro can you share video part 2 coding of Ros and Arduino......in git hub the Arduino coding is different from coding you have shown in video...pls help me bro I am currently working on mobile robot
@vsrinivasan8258 2 роки тому
@@vinaylanka bro can you share forward kinematics code ??? How to convert wheel encoder data to forward kinematics 😭🙏 pls help me bro
@amrshaheen3018 3 роки тому
Fix the GitHub link :)
@vinaylanka 3 роки тому
Oh yes that's fixed now!
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