Pi_Li_AMR

Flash Ubuntu 24.04 on SD Card

Steps:

On PC, install Raspberry Pi Imager
Choose:
- OS → Ubuntu Server 24.04 LTS (64-bit)
- Device → Raspberry Pi 5
Flash to SD card
Insert SD card → power on Pi 5
Login:
- user: ubuntu
- password: ubuntu (change when prompted)

Verify:

lsb_release -a
uname -m

Install ROS 2 Jazzy

sudo apt update && sudo apt upgrade -y
sudo apt install -y curl gnupg lsb-release software-properties-common
sudo add-apt-repository universe
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
    -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
sudo tee /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt install -y ros-jazzy-ros-base python3-colcon-common-extensions

Verify:

printenv ROS_DISTRO

Install Gazebo Harmonic

sudo apt update
sudo apt install -y curl gnupg lsb-release
sudo curl -fsSL https://packages.osrfoundation.org/gazebo.gpg \
    -o /usr/share/keyrings/gazebo-archive-keyring.gpg
echo "deb [arch=arm64 signed-by=/usr/share/keyrings/gazebo-archive-keyring.gpg] \
http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | \
sudo tee /etc/apt/sources.list.d/gazebo-stable.list
sudo apt update
sudo apt install -y gz-harmonic

Verify:

gz sim --version

Installation

ROS2 JAZZY: https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
GAZEBO HARMONIC: https://gazebosim.org/docs/harmonic/install_ubuntu
ROS–Gazebo bridge: sudo apt install ros-jazzy-ros-gz-sim ros-jazzy-ros-gz-bridge ros-jazzy-ros-gz
PYTHON: sudo apt install python3-colcon-common-extensions ros-jazzy-joint-state-publisher ros-jazzy-joint-state-publisher-gui
TOOL: sudo apt install liburdfdom-tools

Verify cables

ls /dev/ttyUSB*
ls /dev/ttyACM*

INSTALLATIONS

sudo apt install -y python3-serial

BUILD

cd ~/pi_li_amr
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install
source install/setup.bash
clear

COMPONENTS USED

- Raspberry Pi Pi 5
- Raspberry Pi RP2040 board
- BTS7960 motor drivers ×2
- XL4015 buck Convertor
- XY-3606 Buck Convertor
- GB37 12V encoded geared motors ×2
- YDLIDAR G2 LiDAR
- 12V 5A adapter
- USB cable ×2 (Pi ↔ RP2040, Pi ↔ LiDAR)
- 4WD Chassis
- Caster Wheel
- Spacers

Hardware Connection Tree

                    12V 5A Adapter
                            │
                ┌───────────┴───────────┐
                │                       │
        XL4015 #1 (12V)         XL4015 #2 (5V)
                │                       │
                │                    RP2040
                │                       │
                │                 USB Serial
                │                       │
                │                Raspberry Pi 5
                │
        ┌───────┴───────────────┐
        │                       │
    BTS7960 #1              BTS7960 #2
        │                       │
    Left Motor              Right Motor

POWER

12V Adapter
    └── XL4015 #1 (set to 12V)
            ├── OUT+ → BTS7960 #1 B+
            ├── OUT+ → BTS7960 #2 B+
            ├── OUT− → BTS7960 #1 B−
            └── OUT− → BTS7960 #2 B−

12V Adapter
    └── XL4015 #2 (set to 5V)
            ├── OUT+ → RP2040 5V
            └── OUT− → RP2040 GND

MOTOR DRIVERS

| BTS7960 #1
| ------- | ----------- |
| RPWM    → GPIO 5      | RP2040 GPIO |
| LPWM    → GPIO 6      | RP2040 GPIO |
| R_EN    → GPIO 7      | RP2040 GPIO |
| L_EN    → GPIO 8      | RP2040 GPIO |
| M+      → Red         | Motor #1    |
| M−      → White       | Motor #1    |

| BTS7960 #2
| ------- | ----------- |
| RPWM    → GPIO 9      | RP2040 GPIO |
| LPWM    → GPIO 10     | RP2040 GPIO |
| R_EN    → GPIO 11     | RP2040 GPIO |
| L_EN    → GPIO 12     | RP2040 GPIO |
| M+      → Red         | Motor #2    |
| M−      → White       | Motor #2    |

ENCODED MOTORS

| Wire
| ----------- | ---------- |
| Green       → GPIO 1     | RP2040 GPIO |
| Yellow      → GPIO 2     | RP2040 GPIO |
| Blue        → 5V         | RP2040 GPIO |
| Black       → GND        | RP2040 GPIO |
| Red         → M+         | BTS7960 #1  |
| White       → M-         | BTS7960 #1  |

| Wire
| ----------- | ---------- |
| Green       → GPIO 3     | RP2040 GPIO |
| Yellow      → GPIO 4     | RP2040 GPIO |
| Blue        → 5V         | RP2040 GPIO |
| Black       → GND        | RP2040 GPIO |
| Red         → M+         | BTS7960 #2  |
| White       → M-         | BTS7960 #2  |

CHASSIS BUILDING

Removed Two Sides

Add GB27 Motors

Add Caster Wheel with Spacers

Bottom View

Add Spacers to the BTS7960

Screw that into the Chassis

Top View

Add XL4015 and set it to 12v

Keep the RP2040 on top of the Chassis

Bottom View

Add Spacers for YDLiDAR

3D Printed Base and attached to the YDLiDAR

View of LiDAR

Add top of the chassis

Side View

Back View

Add Cable to the RP2040 and LiDAR

Side View

GOAL 1: Move robot by ARDUINO IDE

📁 Code ➡️ Keyboard.ino

case 'B': // Back
analogWrite(RPWM1, spd); analogWrite(LPWM1, 0);
analogWrite(RPWM2, spd); analogWrite(LPWM2, 0);
break;

case 'F': // Front
analogWrite(RPWM1, 0); analogWrite(LPWM1, spd);
analogWrite(RPWM2, 0); analogWrite(LPWM2, spd);
break;

case 'G': // left
analogWrite(RPWM1, 0);   analogWrite(LPWM1, spd);
analogWrite(RPWM2, spd); analogWrite(LPWM2, 0);
break;

case 'H': // right
analogWrite(RPWM1, spd); analogWrite(LPWM1, 0);
analogWrite(RPWM2, 0);   analogWrite(LPWM2, spd);
break;

case 'S': // stop
stopMotors();
break;

GOAL 2: Move robot by ROS2

STEP 1: ODOM

Create Workspace

mkdir -p ~/pi_li_amr/src
cd ~/pi_li_amr
colcon build

Create Package

cd ~/pi_li_amr/src
ros2 pkg create robot_bringup --build-type ament_python --dependencies rclpy nav_msgs geometry_msgs tf2_ros

cd ~/pi_li_amr
colcon build
source install/setup.bash

Create File 📁 Code ➡️ Keyboard.ino

touch ~/pi_li_amr/src/robot_bringup/robot_bringup/odom_node.py
chmod +x ~/pi_li_amr/src/robot_bringup/robot_bringup/odom_node.py

Add the file to setup.py
BUILD
Terminal 1: ros2 run robot_bringup odom_node
Terminal 2: ros2 run tf2_tools view_frames odom → base_link

STEP 2: Bridge

📁 Code ➡️ Keyboard.ino

Create a file

touch ~/pi_li_amr/src/robot_bringup/robot_bringup/move_robot.py
chmod +x ~/pi_li_amr/src/robot_bringup/robot_bringup/move_robot.py

Add the file to setup.py
BUILD
Terminal 1: ros2 run robot_bringup move_robot
Terminal 2:

source ~/pi_li_amr/install/setup.bash
ros2 topic pub /cmd_vel geometry_msgs/Twist "{linear: {x: 0.3}, angular: {z: 0.0}}"

GOAL 3: Bring Encoders into action

Create a file

touch ~/pi_li_amr/src/robot_bringup/robot_bringup/serial_node.py
chmod +x ~/pi_li_amr/src/robot_bringup/robot_bringup/serial_node.py

Add the file to setup.py

Add Code
- 📁 Code ➡️ Serial Node
Update Arduino Code
- 📁 Code ➡️ ENCODERS.ino

BUILD
Terminal 1: ros2 run robot_bringup serial_node

GOAL 4: Integrating YD LiDAR

Clone ydlidar_ros2_driver into our workspace

sudo apt update
sudo apt install -y git cmake build-essential libusb-1.0-0-dev
cd ~/pi_li_amr/src
git clone https://github.com/YDLIDAR/ydlidar_ros2_driver.git
cd ~/pi_li_amr/src/ydlidar_ros2_driver
git checkout humble

Keep only these files

G2.yaml
ydlidar_launch.py

BUILD
Terminal 1: ros2 launch ydlidar_ros2_driver ydlidar_launch.py

GOAL 5: SLAM

Create a folder

mkdir ~/pi_li_amr/src/launch
touch ~/pi_li_amr/src/launch/slam.launch.py

Add Code
- 📁 Code ➡️ Serial Node

Add the file to setup.py in data_file
BUILD
Terminal 1: ros2 run robot_bringup serial_node
Terminal 2: ros2 launch ydlidar_ros2_driver ydlidar_launch.py
Terminal 3: ros2 launch robot_bringup slam.launch.py
Terminal 4:

ros2 lifecycle set /slam_toolbox configure
ros2 lifecycle set /slam_toolbox activate

Terminal 5: rviz2

Fixed Frame: map
Add → Map
Add → LaserScan
Add → TF

GOAL 6: AUTO NAVIGATION

Update Code in ARDUINO IDE 📁 Code ➡️ navigation.ino 📁 Code ➡️ Navigation Node
Create a file

touch ~/pi_li_amr/src/robot_bringup/robot_bringup/navigation_node.py
chmod +x ~/pi_li_amr/src/robot_bringup/robot_bringup/navigation_node.py

📁 Code ➡️ Nav Params

Create a file

mkdir -p ~/pi_li_amr/src/robot_bringup/config
nano ~/pi_li_amr/src/robot_bringup/config/nav2.yaml

📁 Code ➡️ Navigation Launch

Create a file

mkdir -p ~/pi_li_amr/src/robot_bringup/launch
nano ~/pi_li_amr/src/robot_bringup/launch/navigation.launch.py

Add the files to setup.py in data_file
BUILD
Terminal 1: ros2 run robot_bringup navigation_node
Terminal 2: ros2 launch ydlidar_ros2_driver ydlidar_launch.py
Terminal 3: ros2 launch robot_bringup slam.launch.py
Terminal 4:

ros2 lifecycle set /slam_toolbox configure
ros2 lifecycle set /slam_toolbox activate

Terminal 5: ros2 launch robot_bringup navigation.launch.py
Terminal 6: rviz2 Click on 2D Goal Pose to navigate

Name		Name	Last commit message	Last commit date
Latest commit History 8 Commits
.vscode		.vscode
Images		Images
src		src
.gitignore		.gitignore
README.md		README.md

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Repository files navigation

Pi_Li_AMR

Flash Ubuntu 24.04 on SD Card

Install ROS 2 Jazzy

Install Gazebo Harmonic

Installation

Verify cables

INSTALLATIONS

BUILD

COMPONENTS USED

GOAL 1: Move robot by ARDUINO IDE

GOAL 2: Move robot by ROS2

STEP 1: ODOM

STEP 2: Bridge

GOAL 3: Bring Encoders into action

GOAL 4: Integrating YD LiDAR

GOAL 5: SLAM

GOAL 6: AUTO NAVIGATION

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Pi_Li_AMR

Flash Ubuntu 24.04 on SD Card

Install ROS 2 Jazzy

Install Gazebo Harmonic

Installation

Verify cables

INSTALLATIONS

BUILD

COMPONENTS USED

GOAL 1: Move robot by ARDUINO IDE

GOAL 2: Move robot by ROS2

STEP 1: ODOM

STEP 2: Bridge

GOAL 3: Bring Encoders into action

GOAL 4: Integrating YD LiDAR

GOAL 5: SLAM

GOAL 6: AUTO NAVIGATION

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