Gribot migrated to ROS Melodic
Gribot has now been migrated to ROS Melodic on Ubuntu 18.04. The installation procedure is the same that before: configuration files have not been changed now.
Simulating with Gazebo and ROS
Simulating with Gazebo and ROS My various tests with ROS quickly led me to the conclusion that it was essential to build a model for simulating gribot with Gazebo and ROS. This makes it possible to experiment without risk, as well as to test the various ROS and robot elements …
First test in simulator
This is the first test down with Gazebo simulator and ROS. The robot model looks like a Lego toy, but the functionalities are there: it is possible to pilot it with a joystick and start to use move_base for automatic path planning. I’m designing Gribot hardware in a CAD application. …
Creating a Gribot workspace
Creating a Gribot workspace Gribot software is based on ROS, and all software project files are hosted on github. It is rather easy to create a ROS and Gribot workspace: you can find everything on the web. However, to simplify the live of readers, we are enumerating all the steps in …
Preparing ROS for CAN operation
Introduction Note: this post is not yet complete. What is described in it allows to do some simple tests between CAN and ROS, but does now allow yet to pilot the wheels, and the robot. I will update this post as soon as I will have done more config. Before …
KYDBL 2430-1E brushless controller
Introduction The KYDBL 2430-1E is a cost effective brushless controller, manufactured by Keya Electron. It can handle one electrical brushless motor. This controller has many capabilities, and it can be used in different modes. These capabilities are: Power supply: 10 to 50VDC Continuous current: 13A Peak curent: 30A PWM rc …
Installing SocketCAN
Introduction SocketCAN is a set of open source CAN device drivers and networking stack that extend the Berkeley socket API in Linux. Installing SocketCAN is rather easy. It introduces a new protocol family called PF_CAN. SocketCAN coexists with other protocol families like PF_INET for the Internet Protocol. The communication with the …
VESC BLDC controller CAN bus tests
VESC BLDC controller CAN bus tests VESC BLDC controller has implemented CAN bus and defined a command set. This allow to control propulsion brushless motors in almost real time and in a secure way. However, the documentation of the BLDC CAN bus implementation is hard to find. After the initial tryouts, …
Initial BLDC controller tests
Initial BLDC controller tests The initial BLDC controller tests have been conducted with the with the propulsion motor. We connected the hall sensor as well as the power cables to the controller, and we managed the controller with the open source BLDC tool, via a USB connector. Building BLDC tool …
Agricultural mowing robot propulsion motor
We are presently working on the propulsion motor. For our prototype, we have chosen a 120W brushless motor (bldc) withs gear box. According to the torque and power calculation mentioned in the requirement, this motor is too big. However, it let us some margin if we have made calculation errors and …