A video how to construct this car (russian, 1/16 (small) version)
- Nvidia Jetson Nano Developer Kit aliexpress
- 64 GB micro sd card
- inner (not usb!) wi-fi card like that one and IPEX Connector antennas for it
- T208 (1/16 preferred, 1/10 required) or T200 18650 UPS HAT Shield for NVIDIA Jetson Nano Developer Kit aliexpress
- 6 (for T208) or 4 (for T200) 18650 Lithium Rechargeable Battery aliexpress
- YDLIDAR X2L or similar aliexpress
- 9-DOF IMU BNO055 aliexpress
- PCA9685 16 Channel 12-bit PWM Servo motor Driver I2C aliexpress
- short USB - USB-C data cable like this one
- access to 3D printer
- cables, screws, etc
- tools
- Remo Hobby Smax 1:16 RH1635
- SURPASS HOBBY KK 35A ESC Waterproof Electric Speed Controller for 1/16 RC Car Brushless Motor Power system aliexpress
- Two KY-003 hall sensor module for Arduino aliexpress
- neodymium magnet about 20x3x2 mm size
- IMX219 Camera 8MP Infrared Night Vision 160 Degree FOV + 2 Infrared LED Lights aliexpress
- 4 Channel IIC I2C Logic Level Converter Bi-Directional Module 5V to 3.3V aliexpress
- two laser distance sensors VL53L0X (6 pin) aliexpress
- additional camera, servos and others for manipulator
- Remo Hobby Mmax 1:10 RH1035
- 2x Raspberry Pi Camera V2 aliexpress
- 2x IMX219 camera sensors aliexpress
- 2x longer CSI cables
- engine (preferred) aliexpress
- HobbyWing QuicRun 3650 Sensored Brushless G2 (25.5T)
- QuicRun 10BL60
- programming card
- 3s accumulator (like Sunpadow Li-Po 3S1P 5200mAh) market
- 5x strong servos (I have 3x 30kg and 2x 20kg) aliexpress
- 4x AS5600 magnetic encoders aliexpress
- 4x scooter wheels (like HIPE 5spoke 100 mm) market
- 1 meter thin hdmi cable
- Arducam CSI to HDMI Cable Extension Module (pack of 2) arducam
- LTE, GPS (FIXME: haven't tested yet)
- HUAWEI ME906e with antennas aliexpress
- NGFF M.2 Key B to USB 3.0 Adapter Expansion Card aliexpress
- usb cable aliexpress
- 7x laser distance sensors VL53L0X aliexpress
- TCA9548 I2C 8-way multi-channel Expansion Board aliexpress
- JetPack 4.6 configuration steps
- code from this repo
- ROS
- Jupyter (
pip3 install notebook) - YDLidar-ros for lidar (use pdf too) and install tf ros package
pip3 install adafruit-pca9685for PCA9685- RTIMULib for IMU and you need this fix (for i2c bus 0, except AS5600 magnetic encoder via TCA9548):
$ git diff
diff --git a/RTIMULib/RTIMUSettings.cpp b/RTIMULib/RTIMUSettings.cpp
index 783dbff..9c0333e 100644
--- a/RTIMULib/RTIMUSettings.cpp
+++ b/RTIMULib/RTIMUSettings.cpp
@@ -470,7 +470,7 @@ void RTIMUSettings::setDefaults()
m_imuType = RTIMU_TYPE_AUTODISCOVER;
m_I2CSlaveAddress = 0;
m_busIsI2C = true;
- m_I2CBus = 1;
+ m_I2CBus = 0;
m_SPIBus = 0;
m_SPISelect = 0;
m_SPISpeed = 500000;
You can download SD card images from here.
Install bare JetPack 4.6 first to upgrade jetson firmware.
Images are for 64GB SD cards.
gunzip -c ballsbot-sd-2021-02-11.tgz | sudo dd of=/dev/sdb
Login& password: ballsbot.
You need to connect to your wi-fi and make this connection "avaliable for all users" (checkbox in network settings).
docker build -t ballsbot -f docker/Dockerfile .
docker run -d -v `pwd`:/home/ballsbot/projects/ballsbot -p127.0.0.1:8080:8080 ballsbot
docker exec -it HASH-HERE bash
rm /home/ballsbot/catkin_ws/src/ballsbot_detection
source /opt/ros/melodic/setup.bash && cd /home/ballsbot/catkin_ws/ && catkin_make && source devel/setup.bash
/home/ballsbot/projects/ballsbot/scripts/run-jupyter.sh --allow-root --port=8080