Low Cost ROS Bot

 

1. There was need to build a low cost ROS bot.
2. ROS is the Robot Operating System, provides a platform to easily build bots.
3. A Commonly available chassis was used and the relevant motor drivers, driver control hardware was integrated. Uses a Raspberry Pi inside.
4. A custom ROS service was written for the motor control. 
5. An unmaintained ROS app called ROSCONTROL was used to provide accelerometer values to wirelessly drive the BOT. It also provides a virtual joystick mode that can be used for BOT control.
6. The Pi is the ROS master and the other slaves connect  over WIFI and enable control of the BOT.
7. ROS is version 1.
8. As the video shows, one can comfortably navigate the bot using the phone as input.