andruino - ROS Wiki

Andruino R2 Robot

A ROS robot, less than 35 euros, based on Arduino and Android.

Authors: Francisco López-Rodríguez, Federico Cuesta (Universidad de Sevilla, Spain)
License: BSD
Source: https://github.com/andruino

Email: <andruino.es@gmail.com>

This work presents the design of an open educational low-cost (about 35 euros, celular phone not included) modular and extendable mobile ROS robot based on Android and Arduino, with Local Area Network (LAN) and Internet connection capabilities, to be used as an educational tool in labs and classrooms of information and communications technology (ICT) vocational training, or in engineering courses, as well as in e-learning or massive open online courses (MOOC) as an alternative or complementary to virtual labs. It is a first step introducing what we call ”BYOR: Bring Your Own Robot” education policy equivalent to ”BYOD: Bring your own devices” in computers’ world. Use iot cloud and deep learning capabilities

Videos

Last prototype Andruino R2 Line-Follower Recognition of objects in an unstructured environment Connecting to the iot cloud

First prototypeVideo1 Video2 ...in CORO da UFMG (Brazil)

Hardware components prices (in Euro)

Units per robot

Component

Price (in EUR) per robot (2016-05-10)

Original Manufacturer

Comments

1	Arduino	2.37	http://www.arduino.cc
1	CIC Six Leg Walking Gearbox Kit	3.80	[[http://www.cickits.com.tw/\|\|<class="col4\|http://www.cickits.com.tw/\|http://www.cickits.com.tw]]
1/13	Cable channel	0.69	[[http://www.unex.net/\|\|<class="col4\|http://www.unex.net/\|http://www.unex.net/]]
1	L293D H Bridge (DIP IC)	0.23	ST Microelectronics oTI
1	andruino shield	13.00	http://andruino.es	It can be replaced by a breadboard or a PCB prototype board
3	HC-SR04	3,21	Multicomp
1	Micro USB OTG Male to USB Standard B Cable	1.42	[[http://www.zszhenfu.com/(?)\|\|<class="col4\|http://www.zszhenfu.com/(?)]]It\|http://www.zszhenfu.com/(?]])
3	LDR	1.89
3	Resistor 10 Kohm 1/4 W	0.06
1	Straight Male Pin Header	0.15
1/4	Straight Female Pin Header	0.26
1	4 AAA battery holder	0.45
	TOTAL:	27,53

Sensors

The Andruino is equipped with the following sensors:

3 Ultrasonic Sensor HCSR04;
3 Light Sensor LDRs;
camera, imu, gps, ... all the sensors availables in the Android device.

Actuators

The Andruino has the following actuators:

Left and right wheel motors;

Processing

Hybrid processing system:

Arduino Uno with ATmega 328p;
Android Device

Communication

Communication system:

Wi-Fi 802.11 b/g/n.
USB OTG, between Arduino and Android.

ROS API

andruino_driver

Subscribed Topics
- /cmd (std_msgs/String)
- /cmd_vel (geometry_msgs/Twist)
Published Topics
- /distance (std_msgs/String)
- /azimut (std_msgs/String)
- /hc_sr0X (range)
- /imu
- /camera
- /odom
- /tf