Software development for Raspberry Pi mobile robot platform with Robot Operating System (ROS)

Cilj ovog diplomskog rada je prikazati postupak izrade programskog rješenja za kontrolirano i autonomno kretanje AlphaBot2-Pi mobilne robotske platforme uz korištenje ROS Noetic Ninjemys okvira. Prije instalacije odgovarajuće verzije ROS-a na Raspberry Pi i same razrade programskog rješenja, potrebno je upoznati se s karakteristikama mobilne robotske platforme, Raspberry Pi računala i senzora kako bi pravilno postavili radno okruženje i omogućili uspješnu komunikaciju procesa u robotskom sustavu. Upoznali smo se s povijesti ROS-a i njegovim konceptima gdje se steklo znanje o elementima sustava, njihovim ulogama i što ROS predstavlja u robotskoj zajednici. U praktičnom dijelu rada izradila se programska podrška za kontrolirano kretanje robota preko tipkovnice, kao i autonomno kretanje realizirano kombinacijom HC-SR04 ultrazvučnog senzora i ST188 infracrvenog senzora te je stečeno znanje o konceptima ROS-a primijenjeno na konkretnom primjeru.The goal of this master’s paper is to show the process of creating a programming solution for controlled and autonomous movement of the AlphaBot2-Pi mobile robotic platform with the use of the ROS Noetic Ninjemys framework. Before the installation of the appropriate version of the ROS onto the Raspberry Pi and the development of the programming solution itself, it is required to familiarise oneself with the characteristics of the mobile robotic platform, the Raspberry Pi computer, and the sensors, to properly set up the work environment and enable a successful communication between the processes in a robotic system. We have familiarised ourselves with the history of ROS and its concepts, where we have acquired knowledge about the system elements, their roles, and what they mean in a robotic community. In the practical part of the paper, a programming support for controlled movement of the robot with the use of a keyboard was created, as well as autonomous movement implemented through the combined use of an HC-SR04 ultrasound sensor and the ST188 infrared sensor, and the acquired knowledge of the ROS concepts was applied on a concrete example