Imported from GitHub: Rose-Hulman-Mars-Rover-Robotics/tinyrover · commit 9c19f73 · license MIT

Description

A tiny rover software implementation

README

tinyrover

A tiny rover software implementation

The main design philosophy that has driven development decisions is, that most of the functions of the rover can be handled by lightweight apis with parallelization handled at the process level.

The directory structure of the reposistory is desgined to reflect the fact that building a robot that is capable of remote operation is a distributed systems problem. The directories within the repository are each contain code that runs on a specific system with the exception of hardware/ which is used to store hardware designs primarily contributed to by the electrical engineering sub team.

https://excalidraw.com/#json=9ia5LWbWXRCnQ1O1GE4IU,IEyxQl1JJFcjVjI3ThGk0Q

Main systems

• user/: This directory contains software that will run on the base station. Including but not limited to sending human input from a controller to the rover and displaying the livestream from the rover.
• jetson/: This directory contains software that will run on the rover specifically the Jetson Nano. Including but not limited to receiving GPS data, networking with the base station and issueing commands to the arduino.
• arduino/: This directory also contains software that will be run on the rover but on an Arduino instead of the Jetson Nano. Including but not limited to manipulating motor speed and direction control.

Communications between systems

• user/ <-> jetson/: tcp/udp (primarily Flask and ffmpeg livestreaming)
• jetson/ <-> arduino/: serial communications (see pyserial for an example)

Init System

This year we should move away from launching code on jetson/ through ssh and instead move to systemd services. This will make development more convenient and will help make services function more robustly in field.

Examples

Wheels as an api

Javascript fetch

fetch('http://localhost:8080/wheel_command', {
	method: 'POST',
	headers: {
		'Accept': 'application/json',
		'Content-Type': 'application/json'
	},
	body: JSON.stringify({'left': 127, 'right': 127})
	})

Python Requests

import requests

r = requests.get('http://localhost:8080/wheel_command', json={
	"left": 127, "right": 127
})

Curl

curl --header "Content-Type: application/json" \
	--request POST --data '{"left": 127, "right": 127}' http://localhost:8080/wheel_command

Wheels as a library

Python

import jetson2arduino

j2a = jetson2arduino.Messenger()
j2a.send([0, 127, 127])