Umnitsa comes from the englsih transliteration of the russian word "умница" clever pesron or smarty-pants. Umnitsa is designed to be a clever robot.
See also umnitsa_msgs, umnitsa_gs, amd umnitsa_mechanical.
umnitsa_robot is a metapackage for all the packages that run on the robot's computer. Packages are located in the src/ directory and a brief description of each is included below.
This package is currently compatible with the Raspberry Pi 3 B+ and Jetson Nano.
Install needed dependencies:
pip install
Install needed dependencies:
pip2 install Jetson.GPIO pygame nanpy
Since this repo contains the realsesnse-ros repository as a submodule it's important to run the following command
git clone --recursive <URL to git repo>
If you failed to do this initially, then inside this repository run
git submodule update --init --recursive
The realsense-ros also requires the latest Intel RealSense SDK. Jetson Nano installation instructions.
Follow directions here to upload correct firmware to arduino (https://github.com/nanpy/nanpy-firmware)
If there are erros installing pygame, you may need to add its dependencies.
sudo apt install libsdl1.2-dev python-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev libsmpeg-dev python-numpy subversion libportmidi-dev ffmpeg libswscale-dev libavformat-dev libavcodec-dev
Since this repo contains the realsesnse-ros repository as a submodule it's important to run the following command
git clone --recursive <URL to git repo>
If you failed to do this initially, then inside this repository run
git submodule update --init --recursive
The realsense-ros also requires the latest Intel RealSense SDK. Linux installation instructions. You must install the dev package
sudo apt install librealsense2-dkms librealsense2-utils librealsense2-dev
Install pygame for the joystick controller
pip2 install pygame
Empty package that declares packages inside the metapackage.
This package contains parameters adn launch files for the umnitsa robot. Parameters should be adjusted for compatibility with system setup.
This package consists of the harware interfacing nodes as follows:
outputs to the motor control board to control four DC motors
Normal mode:
The max throttle going forward is 71% on all motors, not 100%. This is so that moving the joystick in a steady
circle produces a steady cirlce of robot movement.
Turbo mode:
If the joystick is moved at all, one of the motors is set to 100% throttle. This makes it faster, but unfit for precise movement.
Outputs to the UmnitsaRGB custom PCB
Inputs from the UmnitsaUltra custom PCB
Package that contains the node that that receives input from a switch pro controller and outputs to the joystick message.