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
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
Architecture
Useful Links
- OdroidHowTo
- OdroidInstall
- OdroidDev
- SerialRPC mbed project: https://developer.mbed.org/users/harrisjunaid/code/RPC_Serial/ (Moved off of this version)