Zumy

What is Zumy?

Zumy is a small scale tracked mobile robot build design for quick-build from mostly off-the-shelf components. The robot has both and mbed microcontroller board and an ODROID full Linux computer on board. Target applications are mobile computer vision and multi-robot coordination.

The only custom part in the robot is one PCB that is a carrier for several off-the-shelf modules. Soldering is required.
(If you would like to build a Zumy, contact the Biomimetic Millisystems Lab and we can probably supply one of these unpopulated boards.)

Running a Zumy

Follow these tutorials to get Zumy robots running with ROS.

• Powering a Zumy/Battery Charging
• Reprogramming a Zumy's ROS code
• Single Robot Tutorial
• Multiple Zumy Robots
• Zumy Vision and IMU? TODO: Austin upload tutorial

Environment Setup

Steps to setup host computers for communication and control of Zumy robots.

Linux Computer Setup

• Ubuntu 14.04.2 LTS
• Required and Optional Packages
• ROS Indigo
• Final configuration
• DEPRECATED: LCM

Windows/Mac Host Computer Setup

• Virtual Machine Instructions TODO: James add instructions for getting VMWare image working on Mac

Network Configuration

• Zumy Network configuration TODO: James copy from private wiki, Austin add note about UDEV rules for wifi adapter
• Router Configuration
• Host Network Setup? TODO: Austin make diagram

Diagnostic Tools

• Using the Serial Port
• A flowchart for debugging zumys
• Troubleshooting Network Problems TODO: Austin, James see if there is any additional information or tools necessary
• Zumy Status Monitor TODO: Austin/James come up with configuration and instructions for using RQT to display state of network and robots

Embedded Configuration

• mbed Getting Started
• Updating mbed Binary How to update a precompiled mbed binary image
• Offline GCC Compiling How to use GCC-arm on a linux computer to compile an mbed binary image.

Some developers find this faster than using the normal online compiler

• Adding Additional Sensors TODO: Austin tutorial on accessing other mbed functions
• mbed Debugging instructions for setting up a Linux machine to debug mbed with Eclipse.

Building a Zumy

• Assembly Instructions
• Bill of Materials Rev G
• Bill of Materials Rev F
• Zumy - Bill of Materials Rev D
• TODO: Video or pictures of Zumy chassis build.
• TODO: Video of pictures of Zumy electric build (shared with OpenRoACH).
• Accessing Images
• Multi-Platform SD imaging
• Zumy SD card imaging instructions DEPRECATED.
• Zumy github page - Includes PCB designs.

Zumy in the lab

• ZumyInventory

Architecture

• Attach:zumy_architecture.pdf
• Zumy Rev E TODO

Useful Links

• OdroidHowTo
• OdroidInstall?
• OdroidDev?
• SerialRPC mbed project: https://developer.mbed.org/users/harrisjunaid/code/RPC_Serial/ (Moved off of this version)