In Chapter 2, Mechanical Design of a Service Robot, we saw the ChefBot chassis design and now we have got the manufactured parts of this robot. In this chapter, we will see how to assemble this robot using these parts and also the final interfacing of sensors and other electronics components of this robot to Tiva C LaunchPad. We have already discussed interfacing of individual robot components and sensors with Launchpad. In this chapter, we will try to interface the necessary robotic components and sensors of ChefBot and program it in such a way that it will receive the values from all sensors and control the information from the PC. Launchpad will send all sensor values via a serial port to the PC and also receive control information (such as reset command, speed, and so on) from the PC.
After receiving sensor values from the PC, a ROS Python node will receive the serial values and convert it to ROS Topics...