1. Mobile Robotics Teaching Using Arduino and ROS
R. Vilches, I. Martínez, M. L. González, Crespo, J. and Barber, R.
RoboticsLab. Systems Engineering and Automation Department.
7th International Conference of Education, Research and Innovation. ICERI 2014.
(Seville - 17th-19th November 2014)

2. Contents Introduction and Objectives
Robotic platform: Hardware Components
Robotic platform: Software Components
Control Architecture
Experimental Results
Conclusions and Future Work

3. Contents Introduction and Objectives
Robotic platform: Hardware Components
Robotic platform: Software Components
Control Architecture
Experimental Results
Conclusions and Future Work

4. 1. Introduction and Objectives
Develop a low cost platform designed for mobile robotics teaching.
Provide a sensor platform with environmental modeling capability.
Test map generation for robot navigation.

5. 1. Introduction and Objectives
Build a mobile robot with wheel differential system based on Arduino.
Communicate remotely through ROS nodes.
Get a map of the environment using OpenCV libraries.

6. Contents Introduction and Objectives
Robotic platform: Hardware Components
Robotic platform: Software Components
Control Architecture
Experimental Results
Conclusions and Future Work

7. 2. Robotic Platform: Hardware
Micro servo-motor TowerPro SG90
3-Axis magnetometer HMC5883L
2 infrared sensors SHARP GP2D12
2 DC motors

8. 2. Robotic Platform: Hardware
Battery and switch
Encoders and H-bridge regulator
Arduino Mega 2560 (16MHz, 256KB)
Mega SensorShield V1.0

9. Contents Introduction and Objectives
Robotic platform: Hardware Components
Robotic platform: Software Components
Control Architecture
Experimental Results
Conclusions and Future Work

10. 3. Robotic Platform: Software
Arduino platform (hardware and software):
Open: Great community
Flexible: Multiple Applications
Easy to use: Based Programming C / C ++
Low processing power and memory

11. 3. Robotic Platform: Software
ROS: Robotic Operating System:
Distributed: Graph architecture
Nodes:
Publishing and subscribing to messages
Services
Packages

12. Contents Introduction and Objectives
Robotic platform: Hardware Components
Robotic platform: Software Components
Control Architecture
Experimental Results
Conclusions and Future Work

13. 4. Control Architecture
Global architecture scheme

14. 4. Control Architecture PC - ROS: Serial Node Map Node Wander Node
Position Callback
irLecture Callback
Wander Node
Service Callback

15. 4. Control Architecture
Arduino:
ROS
HMC5883L
Encoder
Move

16. 4. Control Architecture Main functionality flow diagram
Loop tasks flow diagram

17. 4. Control Architecture
Environment scanning flow diagram (makeDistance):

18. 4. Control Architecture
Mapping routine flow diagram (mappingRoutine):

19. 4. Control Architecture
Translation flow diagram (makeMove):

20. Contents Introduction and Objectives
Robotic platform: Hardware Components
Robotic platform: Software Components
Control Architecture
Experimental Results
Conclusions and Future Work

21. 5. Experimental Results
Map Node – IrLecture
Depiction
Robot
Obstacles

22. 5. Experimental Results ROS & Arduino ROS architecture working.
Nodes: Serial + Map+ Wander
Arduino management

23. 5. Experimental Results Field tests Mapping a corridor
IR Reading errors
Solution:
Obtain the median from
multiple readings
Increase the thickness
of the lines  Fix errors quickly

24. 5. Experimental Results Field tests (II) Creation of a specific stage
The longer the mapping lasts:
The bigger the error can be accumulated.
The better the resulting depiction (debugging)

25. 5. Experimental Results Field tests (III) Mapping a home hallway:
Consistent result
Long time scanning

26. Contents Introduction and Objectives
Robotic platform: Hardware Components
Robotic platform: Software Components
Control Architecture
Experimental Results
Conclusions and Future Work

27. 6. Conclusions and future work
Result of a user-friendly robotics platform approach to teaching.
Joint use of Arduino and ROS.
Achieve map generation and autonomous robot navigation.

28. 6. Conclusions and future work
Hardware:
Bluetooth connection.
Ultrasonic sensor.
Robotic applications:
Mapping
SLAM
Other navigation applications

29. Mobile Robotics Teaching Using Arduino and ROS
R. Vilches, I. Martínez, M. L. González, J. Crespo, and R. Barber
RoboticsLab. Systems Engineering and Automation Department.
7th International Conference of Education, Research and Innovation. ICERI 2014.
(Seville - 17th-19th November 2014)