Trinity2019

This is the UML Robotics Club's code for the 2019 Trinity College International Firefighting Robot Contest.

To build this, first create a catkin workspace, then clone this repo into the src directory. Then call catkin build to compile the project.

Our project uses ROS, and is designed to run on a Raspberry Pi and communicate with a host computer. Our peripherals include:

• RPLidar A1 lidar sensor to create a map of the maze
• IR Flame sensor to detect when the robot is looking at a candle
• Versa EZ Valve to release CO2 to put out the flame
• Bosch BNO055 IMU to get acceleration and gyroscope information
• An Adafruit color sensor to detect when our robot enters rooms
• Servos to grab and lift the cradle
• 3x Vex omni wheels and geared hobby motors with encoders
• Custom-made logic board and motor driver board

ROS Packages Used

• RPLidar Node
• A heavily modified version of jfstepha's differential-drive to work with a kiwi drive configuration