Testbed for ROS2 Balancing Robot

This is a testbed for my balancing robot, using ROS2 and Bazel.

The hardware can be reduced to the following components:

• Raspberry PI 4 Model B (aarch64, Raspberry PI OS Bullseye 64bit)
• Raspberry PI Camera V2
• Arduino Due ARM Cortex M3
• 2x NEMA17 Stepper motors
• Head Tilt Servo (Camera mounted on shaft)
• Front IR distance sensor (Sharp GP2Y0A21YK)
• 2x Side IR proximity sensor (Sharp GP2Y0D815Z0F)

Raspberry PI is running ROS2 and Arduino Due is running FreeRTOS and micro-ros. They communicate over Serial using Micro-XRCE-DDS.

The buildsystem is Bazel and is used to remotely build and run software on the target platform.

Requirements

This repository requires Docker and Python 3 to function.

sudo apt install docker-ce python3 python3-pip

Bazel is run via a dazel container.

Ensure arduino is installed on the raspberry pi:

sudo apt install arduino

Entrypoint

./run.py --help