Bentobot is a mobile robotics platform to test custom C++ ROS packages for mobile robot mapping, localization, and path planning. The two-wheel differential drive chassis was designed using OnShape and 3D printed on the Ender 3 V2. All design and software artifacts will ultimately be included in this repository. The robot was designed to utilize off the shelf components that can be purchased online.
- ROS Melodic
- Eigen3
I currently use the Remote - SSH VSCode extension to remotely develop on the robot. To use this, ensure SSH is setup on the robot and utilize Remote - SSH's connect to host to connect to the robot.
To ensure that C++ libraries show up properly in the remote development environment, install the C/C++ Extension Pack on VSCode.
In the auto-generated .vscode/c_pp_properties.json file, ensure the includePath has the following directories:
${workspaceFolder}/**",
"<repository path>/devel/include/**",
"/opt/ros/melodic/include/**",
"/usr/include/**"
I am utilizing PlatformIO as a convenient way to upload firmware to the Teensy 4.0 onboard BentoBot. All of the firmware is contained in the src/firmware folder. To upload