- Raspberry Pi zero W (rPi) connected to the robot via I2C
- interface between the robot base camera and the rPi via USB
- 1 digital microphone and 1 speaker
- USB hub connected to the rPi with 2 free ports
- uUSB cable to the rPi uart port. Also ok for charging
- 2 chargers. 1 for the robot battery and 1 for the auxiliary battery on top of the extension
- charging contact points in front for automatic charging. External docking station available
- several extension options. 6 i2C channels, 2 ADC inputs
- several LED to show the status of the rPi and the power/chargers
The system is based on Raspbian Stretch and can be downloaded from the following link gctronic-stretch-ros-kinetic-opencv3.4.1.img.tar.gz.
The system starts in console mode, to switch to desktop (LXDE) mode issue the command
When booting the first time, the first thing to do is expanding the file system in order to use all the available space on the micro sd:
Advanced Options and then
- ROS Kinetic
- OpenCV 3.4.1
The following scripts need to be executed at each startup, alternatively you can set to run them automatically at startup:
- this is neeeded to enable the I2C bus
sudo python3 /home/pi/camera-test.py
- this is needed to correctly configure the camera of the robot
The e-puck2 robot must be programmed with the following firmware e-puck2_main-processor_gumstix.elf and the selector must be placed in position 10.
This is needed in order to exchange data with the robot through I2C.
The ROS workspace is located in
The e-puck2 ROS driver is located in
Follow the steps in the section Robot configuration, only once.
Follow the steps in the section System: Startup configuration, each time the system is powered on.
The PC (if used) and the Pi-puck extension are supposed to be configured in the same network.
roscore can be launched either from the PC or directly from the raspberry.
Before starting roscore, open a terminal and issue the following commands:
roscore-ip is the IP of the machine that runs
roscore by issueing
Running the ROS node
Before starting the e-puck2 ROS node on the raspberry, issue the following commands:
raspberry-ip is the IP of the raspberry
To start the e-puck2 ROS node issue the command:
roslaunch epuck_driver_cpp epuck_controller.launch epuck_id:='3000'
This launch file will start the e-puck2 node and the camera node.
On the PC side issue the following commands in one terminal:
And then start rviz in another terminal:
- open the configuration file named
single_epuck_driver_rviz.rvizyou can find in
Get the source code
The last version of the e-puck2 ROS node can be downloaded from the git:
git clone -b e-puck2 https://github.com/gctronic/epuck_driver_cpp.git
A simple demo was developed to track an orange blob. It is thought to be run with the omnivision extension. The robot rotate in place towards the target when it finds one.
The code can be downloaded from the following repo:
git clone https://github.com/e-puck2/e-puck2_pi_blob-tracking.git