Teleoperated Robot using ROS

This project demonstrates the implementation of a teleoperated robot using ROS (Robot Operating System) and an Nodemcu microcontroller. The robot can be controlled remotely via keyboard commands, leveraging Wi-Fi for communication and ROS for command processing.

Table of Contents

• Introduction
• Features
• Hardware Requirements
• Software Requirements
• Setup Instructions
• Usage
• Contributors

Introduction

This project aims to control a robot remotely using ROS. The robot moves in different directions based on keyboard inputs. It uses an Nodemcu microcontroller for hardware control and ROS for communication and command processing.

Features

• Remote control of robot using ROS.
• Movement in all directions (forward, backward, left, right, and diagonal).
• Wi-Fi connectivity for ROS communication.

Hardware Requirements

• Nodemcu microcontroller (e.g., Nodemcu ESP8266)
• Motor driver (e.g., L298N)
• buck convertor
• DC motors
• Power supply
• Chassis and wheels
• Connecting wires

Software Requirements

• ubuntu
• Arduino IDE
• ROS (Robot Operating System)
• rosserial package
• Python

Setup Instructions

1. Hardware Setup:

   • Connect the DC motors to the motor driver.
   • Connect the motor driver to the Arduino.
   • Connect the Wi-Fi module to the Arduino.
   • Power up the setup.

2. Arduino Code:

   • Open the Arduino IDE.
   • Create a new file and name it robot_code.ino.
   • Copy the provided Arduino code into robot_code.ino.
   • Upload the code to the nodemcu .

3. ROS Setup:

   • Install ROS on your computer.
   • Install the rosserial package .

Usage

1. Connect to the Wi-Fi network specified in the Arduino code.
2. Open a terminal and start ROS master: roscore
3. Launch the rosserial server: roslaunch rosserial_server socket.launch
4. Run the teleop_twist_keyboard node: rosrun teleop_twist_keyboard teleop_twist_keyboard.py
5. Use the keyboard to control the robot.