This chapter was about assembling the hardware of ChefBot and integrating the embedded and ROS code into the robot to perform autonomous navigation. We saw the robot hardware parts that were manufactured using the design from Chapter 6, Interfacing Actuators and Sensors to the Robot Controller. We assembled the individual sections of the robot and connected the prototype PCB we designed for the robot. This consisted of the LaunchPad board, motor driver, left shifter, ultrasonic sensor, and IMU. The LaunchPad board was flashed with the new embedded code, which can interface with all sensors in the robot and can send or receive data from the PC.
After looking at the embedded code, we configured the ROS Python driver node to interface with the serial data from the LaunchPad board. After interfacing with the LaunchPad board, we computed the odometry data and differential drive...
