TI-project - exploration robot Kobuki

Description

This project is a kobuki that drives around in dangerous areas and detects objects in its path. It uses a camera to detect objects. The purpose of this project is to explore dangerous areas without risking human lives. You are able to control the robot using controller on the website.

Photos

Installation

Requirements

• Kobuki robot
• Raspberry Pi (minimum 3B)
• Camera
• power supply for Raspberry Pi
• laptop or computer

Steps

1. Install Python and Pip

   • Ensure you have Python installed on your system. You can download it from python.org.
   • Pip is the package installer for Python. It usually comes with Python, but you can install it separately if needed.

2. Clone Our Repository

   • Clone our repository to your local machine doing the following :
     • Open your terminal
     • Change the current working directory to the location where you want the cloned directory.
     • Type `git clone https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git

3. Install the required packages

   • Install the following packages on the server: "docker docker-buildx mosquitto nginx"
   • Install the following packages on the Raspberry Pi: "g++ make cmake libopencv-dev libssl-dev", https://github.com/eclipse-paho/paho.mqtt.c, https://github.com/eclipse-paho/paho.mqtt.cpp

4. Run the project

   Server side

   • Run the following commands in the terminal to start the website:
     • cd src/Python/flask
     • sudo docker buildx build -t flaskapp:latest .
     • sudo docker run --network="host" --restart=always flaskapp:latest
   • Run the following commands in the terminal to start the MQTT broker:
     • cd src/config/server/
     • mosquitto -c mosquitto.conf
   • Run the following commands in the terminal to start the Nginx server:
     • cd src/config/server/
     • cp nginx.conf /etc/nginx/nginx.conf
     • cp nginx-sites.conf /etc/nginx/sites-enable/nginx-sites.conf

   Raspberry Pi side

   • Run the following commands to build and start the driver:
     • cd src/C++/Driver
     • cmake ..
     • make
     • ./kobuki_driver
   • Run the following commands to autostart the driver on startup of the Raspberry Pi:
     • cd src/config/rpi/
     • cp kobukiDriver.service /etc/systemd/system/kobukiDriver.service
     • systemctl enable kobukiDriver.service
     • systemctl start kobukiDriver.service

Extra notes

Dont forget to change the IP address in the src/C++/Driver/src/main.cpp file to the IP address of the server.