Skip to content
@Project-LeoGV

Project-LeoGV

README.md

Warehouse Robot

Our Project is an Autonomous Warehouse Robot designed with the main goal of being mobile, capable of maneuvering around the warehouse, aware of its environment, powerful enough to carry heavy weights, and as inexpensive as possible to be deployed in vast numbers.

As a team, our primary goal was to build everything ourselves and learn as much as possible. This approach led us to develop all the software components, low-level MCAL and ECUAL drivers, and application codes for our microcontroller STM32G431 entirely from scratch in C. We also designed our own PCBs, which were manufactured in China and assembled by us.

LeoGV

Main Features

ROS2

We used it to provide an interface for the robot such that the higher-level control algorithms used in manual and autonomous modes aren’t dependent on the hardware of the robot. And to test all that We built a simulation environment on Gazebo.

CAN

We implemented CAN communication to facilitate data exchange between various Electronic Control Units (ECUs) within the robot. This ensures efficient and reliable communication among the different components.

USB

We utilized USB communication for interaction between the Raspberry Pi and the ECUs. This setup enables smooth data transfer and command execution, enhancing the overall system performance.

Main components

  • RaspberryPi: The central processing unit of the robot. It is used to receive commands from the control station, control the robot as needed, and provide feedback to the station.
  • USB To CAN: Bridge for the Raspberry Pi to communicate with other ECUs on the CAN bus.
  • Stepper driver: ECU for controlling the stepper motors with control of the motion of the upper plate.
  • ODrive: ECU for controlling the brushless DC motors.

Popular repositories Loading

  1. .github .github Public

  2. USB_TO_CAN USB_TO_CAN Public

    C

  3. LeoGV-ROS2-Station LeoGV-ROS2-Station Public

    Autonomous mobile robots (2WD, 4WD, Mecanum Drive)

    Python

  4. ros2_video_streamer ros2_video_streamer Public

    Forked from klintan/ros2_video_streamer

    Python video streamer or camera simulator in ROS2

    Python

  5. Firmware-System Firmware-System Public

    C

  6. rplidar_ros rplidar_ros Public

    Forked from Slamtec/rplidar_ros

    C++

Repositories

Showing 7 of 7 repositories
  • LeoGV-ROS2-Station Public

    Autonomous mobile robots (2WD, 4WD, Mecanum Drive)

    Project-LeoGV/LeoGV-ROS2-Station’s past year of commit activity
    Python 0 Apache-2.0 0 0 0 Updated Nov 30, 2024
  • Firmware-System Public
    Project-LeoGV/Firmware-System’s past year of commit activity
    C 0 0 0 0 Updated Aug 6, 2024
  • .github Public
    Project-LeoGV/.github’s past year of commit activity
    0 0 0 0 Updated Jul 22, 2024
  • robowheel_odrive Public Forked from avibrown/robowheel_odrive
    Project-LeoGV/robowheel_odrive’s past year of commit activity
    Python 0 5 0 0 Updated Jul 1, 2024
  • USB_TO_CAN Public
    Project-LeoGV/USB_TO_CAN’s past year of commit activity
    C 0 0 0 0 Updated May 7, 2024
  • ros2_video_streamer Public Forked from klintan/ros2_video_streamer

    Python video streamer or camera simulator in ROS2

    Project-LeoGV/ros2_video_streamer’s past year of commit activity
    Python 0 MIT 17 0 0 Updated Feb 29, 2024
  • rplidar_ros Public Forked from Slamtec/rplidar_ros
    Project-LeoGV/rplidar_ros’s past year of commit activity
    C++ 0 BSD-2-Clause 566 0 0 Updated Jan 24, 2024

Top languages

Loading…

Most used topics

Loading…