jbot

This is a personal project with the following goals:

• practice ros2
• practice C++, especially rclcpp
• learn how to best integrate ros2 + behaviortreecpp

Hardware

Base:

• Lynxmotion Tri-Track chassis with two 12V DC motors
• Robokits RKI-1004 Dual Motor Driver (up to 5A)
• 12.0V 2200mAh NiMh battery pack, for powering motors

Electronics:

• Raspberry pi 4
• HC-SR04 Ultrasonic distance sensor
• Skullcandy Stash Fuel 10000 mAh portable power bank (USB-C, 5V, 2.4A), for powering all electronics via RPi4

See docs for more images and hardware info.

See Iohannes blog post for a previous iteration of this robot.

Software

• ros2 foxy
• BehaviorTreeCpp v3