Project | Valify V2 Robot Lawnmower

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2018-05-16

05/17/2018 at 07:37 • 0 comments

The URDF is very time consuming but its coming along nicely. I have added all joints and are now working on to make them work as in reality.
The wheels are working great and the visualization in RVIZ presents the reality very well.

I have also started to work with the IMU joint and the ability to visualize the rotation of the robot (pitch, roll,yaw). To got this working I am using robot_localization pkg (sensor_fusion) Here I am fusing Odom and IMU to odometry/filtered. The visualization is still not very good for the IMU and will need some more love

2018-05-14

05/16/2018 at 05:45 • 0 comments

Tonight I have begun building the robot's URDF for better and nicer visualization in RVIZ when driving around. I also hooked up the 9DOF to test and confirm its functionally .I am using the (SparkFun 9DoF Razor IMU M0 - SEN-14001) and it was not easy to get it to work over ROS, but finally it did ;-)

The URDF will be an exact copy of the real robot and I will mostly use combined STL´S files as meshes for the URDF.

2018-05-13
05/15/2018 at 12:09 • 1 comment

Today I did the first test drive! Yey! One pulley still makes annoying sounds.
2018-05-09
05/09/2018 at 20:16 • 0 comments

Testing the drive system. I need to remake the pulleys because they are slipping. Otherwise everything works fine!

Small test video

2018-05-07

05/07/2018 at 21:07 • 0 comments

So the last days I have been busy. All parts for the drive system was completed and tonight I finished the first test assembly of the drive system. Its a lot of parts for this part of the project and a lot of things need to be correct in order for a nice run. It took a bit of time to get it right and it was a lot of tinkering.

A quick video spinning the wheels:

2018-04-30
04/30/2018 at 20:44 • 0 comments

Project update:
Drive system assembly test. Everything fits perfectly. Some welding left and we are good to go :-)
2018-04-26
04/27/2018 at 06:46 • 0 comments

Left wheel arch part 1/2 completed late last night!
3D printing wheel arch for robot
Test assembly. The covers fits nicely! Not so many parts left to print! I need to order more filament!

3d printed wheel arch test assembly
3d printed wheel arch test assembly
2018-04-25
04/25/2018 at 19:10 • 0 comments

olala, Today all parts for the drive system is completed.
Some parts will be welded together and then the assembly will begin next week!
I have to admit that I am a little excited :-)
Drive system components CNC Milled
Drive system components CNC Milled
2018-04-24
04/24/2018 at 09:27 • 0 comments

First big body cover printed. The part came out great. Running PrimaSelect PETG Solidwhite at 240C. This print was printed with 0.6mm nozzle instead of the original 0.4mm. layers looks nice and even! This part was printed at 2 shells at 10% infill and print time landed on around 15h.
First big body cover 3D printed.
First big body cover 3D printed.

The motor brackets are ready and just some minor things left to be CNC milled. Then finally I can assemble the drive system

CNC Milling motor brackets
a pair of CNC milled motor brackets
2018-04-21
04/21/2018 at 10:37 • 0 comments

3D printing New front nose, ready in 1h. Hopefully everything fits perfect!