Tengu Marauder

Tengu Marauder is a versatile ROS2-based robotic platform integrated with ESP32 for advanced communication and control functionalities. This project leverages XBee modules for wireless communication and provides a modular framework for various robotic components, including motor control, data processing, and operator interfaces.

I reccomend reading the Hackaday build guide for more in depth instructions on the physical build and programming process: https://hackaday.io/project/197212-tengu-maraduer

Our 3D printable files are available at: https://www.printables.com/model/964421-tengu-marauder-frame

Features

• Motor Control: Manage and control the motors of the robotic platform.
• XBee Communication: Wireless communication using XBee modules.
• ESP32 Integration: Interface with ESP32 for additional functionalities.
• Data Processing: Handle and process sensor data.
• Operator Interface: Interface for manual control and monitoring.

Installation

Reccommended

• Motor Test: Test motor function with motorcontrol.py under launch

Prerequisites

• ROS2 Humble: Ensure you have ROS2 Humble installed.
• Python 3: Make sure Python 3 is installed.
• djitellopy: We were testing this on a DJI Tello with the dji tello py library pip install djitellopy

Steps

1. Clone the Repository:

   git clone https://github.com/yourusername/Tengu-Marauder.git
   cd Tengu-Marauder

2. Setup ROS2 Workspace:

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src
   ln -s ~/path_to_cloned_repo/Tengu-Marauder .
   cd ~/ros2_ws
   colcon build
   source install/setup.bash

3. Install Python Dependencies:

   pip install -r requirements.txt

Usage

Launching the Nodes

To launch the Tengu Marauder system, use the provided launch file:

ros2 launch tengu_marauder tengu_marauder_launch.py

Running Individual Nodes
You can also run individual nodes separately for testing:

ros2 run motor_control motor_control_node
ros2 run xbee_comm xbee_comm_node

Bill of Materials:

• Raspberry Pi 4
• 2x ttmotors
• SunFounder Raspberry Pi Motor Hat
• 3D Printed Parts
  1. Outershell
  2. Undershell
  3. Wheels
  4. Back wheel