MicroROS ESP32 WiFi Controlled Robot

Welcome to the MicroROS ESP32 WiFi controlled robot project! This repository contains all the necessary files and instructions to build, program, and integrate a fully functional robot using the ESP32 and MicroROS with ROS2.

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Introduction

If you're passionate about robotics and eager to dive into hands-on hardware and ROS2 projects, this course is perfect for you. We'll guide you step-by-step in building a fully functional robot using the ESP32 and MicroROS with ROS2 over Wifi.

Course Overview

Section 1: Building the Robot

• Assemble your robot from the ground up
• Utilize 3D-printed parts and resources we provide
• Learn about electronic connections and power distribution Section 2: Basic Programming
• Get started with programming using PlatformIO to control your robot's movements
• Write simple code to drive the robot and navigate basic paths
• Create your custom libraries for motor driving
• Integrate the OLED display into your robot Section 3: MicroROS Integration
• Integrate MicroROS with your ESP32 robot
• Enhance your robot’s capabilities with advanced communication using ROS2 By the end of this course, you'll have a deeper understanding of robotics, from hardware assembly to software integration, and you'll walk away with a robot that you built and programmed yourself.

Directory Details

• microROS_bot/include: This directory contains the README file for the include directory, where you can provide information about the headers and any specific instructions or documentation.

• microROS_bot/lib: This directory houses different libraries used in the project.

  • motor_control: Contains motor_control.cpp and motor_control.h files for controlling the robot's motors.
  • oled_display: Contains oled_display.cpp and oled_display.h files for managing the OLED display integration.
  • ros_communication: Contains ros_communication.cpp and ros_communication.h files for integrating ROS communication capabilities.
  • README: Provides information about the libraries and their usage.

• microROS_bot/platformio.ini: This is the PlatformIO configuration file, which contains the settings and dependencies for the project.

• microROS_bot/src: Contains the main source code file main.cpp, which is the entry point of the robot's program.

• microROS_bot/test: Contains a README file for providing information about any tests or testing framework used in the project.

• resources: This directory includes all the resources needed for building the robot.

  • 3d models: Contains STL files for 3D printing the robot parts.
    • base.stl, caster_holder.stl, cover.stl, motor_holder.stl
  • circuit_design.png: Image of the circuit design for the robot.
  • robot_model.png: Image of the complete robot model.

How to Run

1. Assemble the Robot: Follow the instructions provided in the resources directory. Use the 3D models and the circuit design to assemble your robot.

2. Set Up Your Development Environment:

   • Install PlatformIO in your preferred IDE (e.g., VSCode).
   • Clone this repository to your local machine.
   • Open the project folder in your IDE.

3. Program the Robot:

   • Navigate to the microROS_bot directory.
   • Modify the src/main.cpp file as needed to customize the robot's behavior.
   • Use PlatformIO to build and upload the code to your ESP32.

4. Integrate MicroROS:

   • Ensure you have ROS2 installed on your computer.
   • Follow the instructions in the lib/ros_communication directory to integrate MicroROS with your ESP32 robot.