Beggar Bot fun/study project

This cute robot roams around the room and kindly asks for money.

Project details (russian)

Tech

1. Core
   • Hardware
     • Raspberry Pi 2B
     • A control switch
   • Software
     • ROS
2. Vision
   • Hardware
     • Raspberry Pi Camera module v2
     • Movidius Neural Compute Stick
   • Software
     • RaspiCam
     • Intel OpenVINO for Raspbian
     • SSD face detector with SqueezeNet backbone
     • SORT detection tracker
3. Navigation
   • Hardware
     • Sharp GP2Y0A02YK ifrared sensor x2
     • MCP3008 analog-digital converter
   • Software
     • MCP3008 controller
4. Motion
   • Hardware
     • Adafruit PCA9685 PWM controller
     • SG90 servo
     • FS5109M servo x2
     • FS5103R continuous rotation servo x2
   • Software
     • WiringPi
     • PCA9685 controller
5. Power
   • Hardware
     • DFRobot Power Module x2
     • ROBITON 3.4/LI18650 accumulators x2
     • A huge red shutdown button

Dependencies:

• WiringPi
• OpenVINO + OpenCV for Raspbian
• RaspiCam 0.1.6
• PCA9685 PWM controller
• see submodules folder

Build:

catkin_make [-j1]

Download OpenVINO model for face detection:

./download_model.bash

Launch:

roslaunch beggar_bot robot.launch