#21 encoder based mapping using MicroROS

README.md

@@ -1,32 +1,42 @@
 # ROS2 Mobile Robotics
-This repository will be carrying code for basics of mobile robotics with ros2 implementation in CPP .
+This repository will be carrying code for 2D Slam ros2 based Robot in CPP .
 
-## Running Projects
-- Project [#1](https://github.com/Robotisim/mobile_robotics_ROS2/issues/1):  Multi Turtlesim Driving Simulation -> [Wiki_link](https://github.com/Robotisim/mobile_robotics_ROS2/wiki/Project-%231:-Multi-Turtlesim-Driving)
-- Project [#2](https://github.com/Robotisim/mobile_robotics_ROS2/issues/2):  Patrolling TB3s and gazebo worlds -> [Wiki_link](https://github.com/Robotisim/mobile_robotics_ROS2/wiki/Project-%232%3A-Patrolling-TB3s-and-gazebo-worlds)
-- Project [#3](https://github.com/Robotisim/mobile_robotics_ROS2/issues/3):  Mathematics for mobile Robotics -> [Wiki_link](https://github.com/Robotisim/mobile_robotics_ROS2/wiki/Project-%233:-Mathematics-for-mobile-Robotics)
+## Setup RPI for ROS2 Development
+- Install RPI Imager → Ubuntu 22.04 Server
+    - Setup Wifi network file change ssid and password → no need of HDMI display
+- Vscode SSH → find ip using network tools android app
+- SSH username : ubuntu
+- SSH Password : ubuntu
 
-- Project [#4](https://github.com/Robotisim/mobile_robotics_ROS2/issues/23): MicroROS Controlled Differential Drive Bot -> [Wiki_link](https://github.com/Robotisim/mobile_robotics_ROS2/wiki/Project-%234:-MicroROS-Controlled-Differential-Drive-Bot)
+### Running
+- Clone this package on both the RPI and PC
+- To View Odometery on RVIZ
+    ```
+    #on RPI
+    ros2 launch py_slambot rpi_a_robot_drive_enc_pub.launch.py
 
-- Project [#5](https://github.com/Robotisim/mobile_robotics_ROS2/issues/5): Line Follower and Maze Solving robots  -> [Wiki_link](https://github.com/Robotisim/mobile_robotics_ROS2/wiki/Project-%235:-Line-Follower-and-Maze-Solving-robots)
+    #on PC
+    ros2 launch py_slambot pc_a_odom-view.launch.py
+    ```
+- View Lidar
+    ```
 
-- Project [#6](https://github.com/Robotisim/mobile_robotics_ROS2/issues/6):   Autonomous Turtlebot3 SLAM BOT -> [Wiki_link](https://github.com/Robotisim/mobile_robotics_ROS2/wiki/Project-%236:-Autonomous-Turtlebot3-SLAM-BOT)
-
-- Project [#7](https://github.com/Robotisim/mobile_robotics_ROS2/issues/7):
-Autonomous 2D Lidar RPI4 based Robot -> [Wiki_link](https://github.com/Robotisim/mobile_robotics_ROS2/wiki/Project-%237:-Autonomous-2D-Lidar-RPI4-based-Robot)
-
-- Project [#8](https://github.com/Robotisim/mobile_robotics_ROS2/issues/8):  Behaviour Trees and State machines -> [Wiki_link](https://github.com/Robotisim/mobile_robotics_ROS2/wiki/Project-%238:-Behaviour-Trees-and-State-machines)
-
-- Project [#9](https://github.com/Robotisim/mobile_robotics_ROS2/issues/9):  Rtabmap and Point clouds -> [Wiki_link](https://github.com/Robotisim/mobile_robotics_ROS2/wiki/Project-%239:-Rtabmap-and-Point-clouds)
+    ```
 
+### Remaning
+- Mapping from Lidar
 
 ## Requirements
 ### Software
-- Ubuntu 22.04
+- Ubuntu 22.04 , Ubuntu 22 Server
 - ROS2 Humble
 - Vscode
-- PlatformIO
 
 ### Hardware
-Get hardware 3D printing body and electronic components from [This repository](https://github.com/Robotisim/mobile_robotics_3D_printing/tree/main)
-
+- Raspberry Pi 4B
+- PowerBank 3A
+- 2x DC Motors
+- 2x Wheels
+- 1x Caster Wheel
+- 1x L298N Motor Driver
+- 1x 12V Battery