Pi-puck - Revision history

WikiSysop: /* Running the ROS node */

2026-02-19T13:18:53Z

Running the ROS node

← Older revision		Revision as of 13:18, 19 February 2026
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	The following graph shows all the topics published by the e-puck version 2 driver node:<br/>		The following graph shows all the topics published by the e-puck version 2 driver node:<br/>
	[[File:ros-e-~~puck2_~~.jpg\|150px]]		[[File:ros-e-puck2.jpg\|150px]]
	''<font size="2">Click to enlarge</font>''		''<font size="2">Click to enlarge</font>''

WikiSysop: /* ROS */

2026-02-19T13:16:13Z

ROS

← Older revision		Revision as of 13:16, 19 February 2026
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	ROS Kinetic is integrated in the Pi-puck system.<br/>		ROS Kinetic is integrated in the Pi-puck system.<br/>
	A ROS node developed to run in the Pi-puck is available for both <code>CPP</code> and <code>Python</code>, the communication system is based on the third architecture shown in chapter [https://www.gctronic.com/doc/index.php?title=Pi-puck#Wireless_remote_control Wireless remote control]; a more detailed schema is shown below:<br/>		A ROS node developed to run in the Pi-puck is available for both <code>CPP</code> and <code>Python</code>, the communication system is based on the third architecture shown in chapter [https://www.gctronic.com/doc/index.php?title=Pi-puck#Wireless_remote_control Wireless remote control]; a more detailed schema is shown below:<br/>
	[[File:epuck2-ros-~~schema~~.png\|600px]]<br/>		[[File:epuck2-ros-schema_pipuck.png\|600px]]<br/>

	==Initial configuration==		==Initial configuration==

WikiSysop at 12:39, 19 February 2026

2026-02-19T12:39:49Z

Show changes

WikiSysop at 11:34, 19 February 2026

2026-02-19T11:34:29Z

← Older revision		Revision as of 11:34, 19 February 2026
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	=Hardware=		=Hardware=
	==Overview==		==Overview==
	~~<span class="plainlinks">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~pipuck-overview.jpg ~~<img width=600 src="https://projects.gctronic.com/epuck2/wiki_images/pipuck-overview-small.jpg">~~]~~</span>~~<br/>		[[File:pipuck-overview.jpg\|600px]]<br/>
	Features:		Features:
	* Raspberry Pi Zero W or Zero 2 W connected to the robot via I2C		* Raspberry Pi Zero W or Zero 2 W connected to the robot via I2C
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	==I2C bus==		==I2C bus==
	I2C is used to let communicate various elements present in the robot, Pi-puck and extensions. An overall schema is shown in the following figure:<br/>		I2C is used to let communicate various elements present in the robot, Pi-puck and extensions. An overall schema is shown in the following figure:<br/>
	~~<span class="plainlinks">~~[~~https~~:~~//projects.gctronic.com/epuck2/wiki_images/~~i2c-buses.png ~~<img width=600 src="https://projects.gctronic.com/epuck2/wiki_images/i2c-buses.png">~~]~~</span>~~<br/>		[[File:i2c-buses.png\|600px]]<br/>
	An I2C switcher is included in the Pi-puck extension in order to support additional I2C buses (the RPi alone has only one usable I2C bus). These are needed to avoid conflicts between Time-of-Flight sensors that have a fixed I2C address.		An I2C switcher is included in the Pi-puck extension in order to support additional I2C buses (the RPi alone has only one usable I2C bus). These are needed to avoid conflicts between Time-of-Flight sensors that have a fixed I2C address.

WikiSysop: /* Raspberry Pi OS Buster */

2024-07-19T06:30:17Z

Raspberry Pi OS Buster

← Older revision		Revision as of 06:30, 19 July 2024
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	==Raspberry Pi OS Buster==		==Raspberry Pi OS Buster==
	The system is based on Raspberry Pi OS Buster and can be downloaded from the following link [https://projects.gctronic.com/epuck2/PiPuck/buster_ros2_21.06.24~~.img~~.tar.gz buster_ros2_21.06.24~~.img~~.tar.gz].		The system is based on Raspberry Pi OS Buster and can be downloaded from the following link [https://projects.gctronic.com/epuck2/PiPuck/buster_ros2_21.06.24.tar.gz buster_ros2_21.06.24.tar.gz].

	This system supports only ROS2, this is the main difference against the older system (Stretch).		This system supports only ROS2, this is the main difference against the older system (Stretch).

WikiSysop: /* Raspberry Pi OS Buster */

2024-06-21T12:14:54Z

Raspberry Pi OS Buster

← Older revision		Revision as of 12:14, 21 June 2024
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	==Raspberry Pi OS Buster==		==Raspberry Pi OS Buster==
	The system is based on Raspberry Pi OS Buster and can be downloaded from the following link [https://projects.gctronic.com/epuck2/PiPuck/~~buster_ros2_15~~.06.24.img.tar.gz ~~buster_ros2_15~~.06.24.img.tar.gz].		The system is based on Raspberry Pi OS Buster and can be downloaded from the following link [https://projects.gctronic.com/epuck2/PiPuck/buster_ros2_21.06.24.img.tar.gz buster_ros2_21.06.24.img.tar.gz].

	This system supports only ROS2, this is the main difference against the older system (Stretch).		This system supports only ROS2, this is the main difference against the older system (Stretch).

WikiSysop: /* Test the communication */

2024-06-21T10:48:54Z

Test the communication

← Older revision		Revision as of 10:48, 21 June 2024
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	==Test the communication==		==Test the communication==
	You can test if the communication ~~between~~ the robot ~~and the computer~~ is actually working by simply display messages published by a topic, e.g.:<br/>		You can test from the computer if the communication with the robot is actually working by simply display messages published by a topic, e.g.:<br/>
	<code>ros2 topic echo /tof</code><br/>		<code>ros2 topic echo /tof</code><br/>
	You can have the list of all the topics by issuing the command: <code>ros2 topic list</code>.<br/>		You can have the list of all the topics by issuing the command: <code>ros2 topic list</code>.<br/>

WikiSysop: /* Test the communication */

2024-06-21T10:47:30Z

Test the communication

← Older revision		Revision as of 10:47, 21 June 2024
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	You can have the list of all the topics by issuing the command: <code>ros2 topic list</code>.<br/>		You can have the list of all the topics by issuing the command: <code>ros2 topic list</code>.<br/>
	You can move the robot straight forward by issuing <code>ros2 topic pub -1 /cmd_vel geometry_msgs/Twist "{linear:{x: 2.0, y: 0.0, z: 0.0}, angular:{x: 0.0, y: 0.0, z: 0.0}}"</code>.<br/>		You can move the robot straight forward by issuing <code>ros2 topic pub -1 /cmd_vel geometry_msgs/Twist "{linear:{x: 2.0, y: 0.0, z: 0.0}, angular:{x: 0.0, y: 0.0, z: 0.0}}"</code>.<br/>
	You can change the LEDs state by issuing <code>ros2 topic pub -1 /led0 std_msgs/msg/Bool "{data: true}"</code>; topics for LEDs are <code>/led0</code>, <code>/led2</code>, <code>/led4</code>, <code>/led6</code>.		You can change the LEDs state by issuing <code>ros2 topic pub -1 /led0 std_msgs/msg/Bool "{data: true}"</code>; topics for LEDs are <code>/led0</code>, <code>/led2</code>, <code>/led4</code>, <code>/led6</code>.<br/>
	You can change the RGB LEDs state by issuing <code>ros2 topic pub -1 /led1 std_msgs/msg/Int32 "{data: 0x00FFFFFF}"</code> (turn on white); topics for RGB LEDs are <code>/led1</code>, <code>/led3</code>, <code>/led5</code>, <code>/led7</code>.		You can change the RGB LEDs state by issuing <code>ros2 topic pub -1 /led1 std_msgs/msg/Int32 "{data: 0x00FFFFFF}"</code> (turn on white); topics for RGB LEDs are <code>/led1</code>, <code>/led3</code>, <code>/led5</code>, <code>/led7</code>.

WikiSysop: /* Test the communication */

2024-06-21T10:47:05Z

Test the communication

← Older revision		Revision as of 10:47, 21 June 2024
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	You can have the list of all the topics by issuing the command: <code>ros2 topic list</code>.<br/>		You can have the list of all the topics by issuing the command: <code>ros2 topic list</code>.<br/>
	You can move the robot straight forward by issuing <code>ros2 topic pub -1 /cmd_vel geometry_msgs/Twist "{linear:{x: 2.0, y: 0.0, z: 0.0}, angular:{x: 0.0, y: 0.0, z: 0.0}}"</code>.<br/>		You can move the robot straight forward by issuing <code>ros2 topic pub -1 /cmd_vel geometry_msgs/Twist "{linear:{x: 2.0, y: 0.0, z: 0.0}, angular:{x: 0.0, y: 0.0, z: 0.0}}"</code>.<br/>
	You can change the LEDs state by issuing <code>ros2 topic pub -1 /led0 std_msgs/msg/Bool "{data: true}"</code>.		You can change the LEDs state by issuing <code>ros2 topic pub -1 /led0 std_msgs/msg/Bool "{data: true}"</code>; topics for LEDs are <code>/led0</code>, <code>/led2</code>, <code>/led4</code>, <code>/led6</code>.
			You can change the RGB LEDs state by issuing <code>ros2 topic pub -1 /led1 std_msgs/msg/Int32 "{data: 0x00FFFFFF}"</code> (turn on white); topics for RGB LEDs are <code>/led1</code>, <code>/led3</code>, <code>/led5</code>, <code>/led7</code>.

	A simple example node in Python is available in the repo <code>https://github.com/gctronic/epuck_ros2_pub.git</code>		A simple example node in Python is also available in the repo <code>https://github.com/gctronic/epuck_ros2_pub.git</code>

	==Get the source code==		==Get the source code==

WikiSysop: /* Test the communication */

2024-06-21T10:44:36Z

Test the communication

← Older revision		Revision as of 10:44, 21 June 2024
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	You can move the robot straight forward by issuing <code>ros2 topic pub -1 /cmd_vel geometry_msgs/Twist "{linear:{x: 2.0, y: 0.0, z: 0.0}, angular:{x: 0.0, y: 0.0, z: 0.0}}"</code>.<br/>		You can move the robot straight forward by issuing <code>ros2 topic pub -1 /cmd_vel geometry_msgs/Twist "{linear:{x: 2.0, y: 0.0, z: 0.0}, angular:{x: 0.0, y: 0.0, z: 0.0}}"</code>.<br/>
	You can change the LEDs state by issuing <code>ros2 topic pub -1 /led0 std_msgs/msg/Bool "{data: true}"</code>.		You can change the LEDs state by issuing <code>ros2 topic pub -1 /led0 std_msgs/msg/Bool "{data: true}"</code>.

			A simple example node in Python is available in the repo <code>https://github.com/gctronic/epuck_ros2_pub.git</code>

	==Get the source code==		==Get the source code==