leo_robot_dlp

DLP - Drone Landing Platform

ROS Distribution: Noetic

Robot ROS packages for Leo Rover- custom version with BLDC motors from MAB Robotics.These packages can be run only on the real robot. Not usable for the simulation.

The custom leo_robot_dlp package is based on leo_robot package.

• leo_robot - Metapackage for this repository.
• leo_bringup - Scripts and launch files for starting basic Leo Rover functionalities.
• leo_fw - Binary releases of Leo Rover firmware and related utilities.

Visit each package's ROS Wiki page for more information.
For more information about the robot, visit [Robots/Leo Rover].

Installation Guide

1. Flash the newest release of LeoOS.
   Ensure your rover has the latest operating system installed by following the official LeoOS guide.

2. Connect to the rover via SSH.

3. Connect the rover to the Internet.
   Ensure the rover is connected to the network for downloading updates and packages.

4. Update packages.
   Run the following command to update all system packages:

   sudo apt update

5. Type the following commands to clone and build the leo_robot_dlp package:

   mkdir -p ~/ros_ws/src
   cd ~/ros_ws/src
   git clone https://github.com/fictionlab/leo_robot_dlp.git
   cd ..
   catkin build

6. Edit the setup.bash file to source from the extended workspace.
   Open the /etc/ros/setup.bash file and ensure it includes the following:

   # source /opt/ros/noetic/setup.bash
   source /home/pi/ros_ws/devel/setup.bash

7. Install CANdle Python library:

   sudo apt install python3-pip
   python3 -m pip install pyCandleMAB

8. Enable the SPI bus and reboot the system.
   Open the /boot/firmware/config.txt file and uncomment the following line:

   dtparam=spi=on

9. Restart leo.service

   sudo systemctl restart leo.service