Tethered tracked robot using ROS Melodic & Ubuntu 18.04

Overview I'm making a tracked tank based robot using Ubuntu 18.04 (Bionic Beaver) and ROS Melodic (Robot Operating System). The robot is tethered with copper & fibre optic cable. All the electronics has been purchased & is currently being assembled. Communications On-site support is available by means of mobile, Whatsapp, Skype & email. Hardware All hardware is available & has been tested as working with exception to the pressure sensors. Some hardware configuration is to be determined such as pin assignments which is done on the configurations. Both PC & Odroid-N2 have internet access & are networked. Remote Access Access to the system will be by means of: • SSH into top-side PC & into Odroid-N2 • Teamviewer into top-side PC & SSH into Odroid-N2 The top-side Consists of a computer with a joystick to control the robot. OS is Ubuntu 18.04 Bionic Beaver with ROS Melodic installed. The bottom-side Uses Odroid-N2 with Ubuntu 18.04 Bionic Beaver with ROS Melodic. The install includes sensors, which use I2C & 1-wire along with four LEDs & two stepper motors that use PWM to control brightness & rate. Four cameras are IP based with built-in H264 compression. The requirements are as follows: 1. Gather data collected by the sensors & send to the top-side computer for display on web GUI: 1.1. Temperature sensors (DS18B20) – display in Celsius on web GUI 1.2. Pressure sensors (MS5837-30BA) – display pressure in bars on web GUI 1.3. Current sensors (INA219) – display voltage, current & power on web GUI 1.4. IMU (9DoF Razor IMU M0) – display X, Y & Z axis (preferably in 3D) on web GUI 2. Control of NEMA 23 motors by means of the joystick & web GUI (on/off/rate) 2.1. Stepper motor (number of steps can be used to determine distance travelled & speed) 2.2. Stepper motor driver (TB6560) 3. Control of LEDs by means of the joystick & web GUI (on/off/brightness) 4. Control of cameras (on/off) & integration of one video stream into web GUI 5. Control of relays (on/off) 6. Integration of I2C Multiplexer (TCA9548A) for INA219 Below is a document showing the data & video path. Please feel free to direct all questions to me.