# 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
![Kobuki](/docs/assets/KobukiPhoto.jpg)

## 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](https://www.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.