Imported from GitHub: paagutie/bluerov_acmodule · commit 6d25cb4 · license Apache-2.0

Description

DIY Board developed as actuator module using micro-ROS as middelware.

README

bluerov_acmodule

DIY Board developed as actuator module for a custom BlueROV2 that uses micro-ros as middelware for integration with ROS2. The STM32CubeIDE program was used as programming IDE and the micro_ros_stm32cubemx_utils repository was used for integration with micro-ROS. For more information, follow the steps described in its documentation.

Software

Requirements

• ROS2 - iron
• Ubuntu 22.04
• STM32CubeIDE - Version: 1.7.0
• DIY actuators module
• micro_ros_stm32cubemx_utils

Installation

• Clone the repository and copy the software data to the STM32CubeIDE workspace:

cd ~
mkdir ~/STM32CubeIDE/workspace_1.x.x/minirov_acmodule
git clone --recurse-submodules https://github.com/paagutie/minirov_acmodule.git
cp -a minirov_acmodule/software/. ~/STM32CubeIDE/workspace_1.x.x/minirov_acmodule
cd /minirov_acmodule/sofware

• Then copy the contents of the extra_packages folder (custom messages) to the STM32CubeIDE directory. In case you want to add new packages, they can be copied to the extra_packages directory:

export EXTRA_PACKAGES_DIR=~/STM32CubeIDE/workspace_1.x.x/minirov_acmodule/micro_ros_stm32cubemx_utils/microros_static_library_ide/library_generation/extra_packages/
cp -a extra_packages/. $EXTRA_PACKAGES_DIR

• Finally, import the project and compile it using STM32CubeIDE.

ROS2 Topics

Subscribers:

• actuator/module/out/control

Publishers:

• actuator/module/battery/data
• actuator/module/leak

Hardware

For the development of the printed circuit board we used the Cross Platform and Open Source Electronics Design Automation Suite KiCad.

Here is an image of the finished Actuator Module.