Bungy Robot

The bungy_robot repository hosts a ROS2-based differential drive robot project designed for modularity and ease of use. Utilizing 3D-printed parts and powered by an array of sensors including an Adafruit BNO055 IMU, this robot can be remotely controlled through an Xbox controller. The 3D printed part offer a lot of modularity with different platforms and a standardized grid to mount your electronics. I used Dynamixel AX-12A servos as motors, the caster wheel is from a Roomba robot.

As the project is in a very early stage of development, not all the elements are already published. The 3D-printed parts will be published on printables.com in the futur. Feel free to contact me if you have questions or you want to try bungy out in this early stage of development.

Installation Instructions

Follow these steps to set up the robot workspace. The script will install ros_team_workspace and then setup a workspace for you:

wget https://raw.githubusercontent.com/CyberDNS/bungy_robot/main/install.sh
chmod +x install.sh
./install.sh

Running Bungy

ros2 launch bungy_robot_description robot.launch.py

Control by keyboard:

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/diff_cont/cmd_vel_unstamped

Control by joystick or controller:

ros2 launch bungy_robot_description joystick.launch.py