MOMObot Documentation

Version 1.1.0

This document contains the relevant specifications and software packages that are used in the MOdular MObile (MOMObot) Robot. MOMObot is a service AGV built for extensibility and to roam autonomously using ROS!

Generating the documentation

Note

Ensure that sphinx is installed beforehand!

To generate the documentation locally, git clone the repository & build the document.

$ git clone https://github.com/sutd-robotics/momobot
$ cd momobot/docs
$ make html

The mainpage would be located at _build/index.html.

Index

Components

• Hardware
  • 1.1 Dimensions
  • 1.2 Specifications
  • 1.3 Gotchas, Hacky Stuff and Things to Take Note Of
  • 1.4 To Dos
• Electronics
  • 2.1 Electronic BOM
  • 2.2 Start-Up, Shut-Down Procedure
  • 2.3 Gotchas, Hacky Stuff and Things to Take Note Of
  • 2.4 Circuit Diagrams
  • 2.5 Motor Tuning
  • 2.6 PID Tuning from the MOMObot side
• Software
  • Overview
  • 3.1 Pre-Requisites
  • 3.2 Setting Up MOMObot
  • 3.3 Running MOMObot Capabilities
  • 3.4 Tuning MOMObot
  • 3.5 Console Commands
  • 3.6 Mapping
  • 3.7 Exporting Display to MOMObot from Computer
  • 3.8 Semantic Pose and Semantic Pose Sounder Packages
  • 3.9 Software To-Dos
  • 3.10 Troubleshooting

Extra

• Flipsky VESC 4.12 Documentation
• Circuit Diagram Draw.io Links

Credits

• Contributions
• License