Reaction wheel Bike

The bike is designed by assembling different parts, taken from different sources and some were built explicitly. This ros package tries to demonstrate the balancing of a two wheeled bike in ros-noetic using a reaciton wheel.

Software Requirements

• ubuntu 20.04
• git
• ros-noetic-desktop-full

Installations/setup

1. Create a ros package using following commands :

cd ~
mkdir -p catkin_ws/src
cd catkin_ws
catkin_make

2. Make sure to source your ros repo using this command :

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

3. Install required ros packages :

sudo apt-get install ros-noetic-ros-control -y
sudo apt-get install ros-noetic-ros-controllers -y

4. Clone this ros package in your local ros workspace :

cd ~/catkin_ws/src
git clone https://github.com/ab31mohit/self_balancing_bike.git
cd ..
catkin_make

Usage

Run the following command to launch the bike in gazebo and start balancing.

roslaunch self_balancing_bike empty_world_urdf.launch

(Without balancing the bike)	Balancing bike at a point

These are the frames attached to different portions of the bike

You can launch the rviz.launch file to visualize these frames.