PlatypusBot Gets a Raspberry Pi + ROS 2 Upgrade
Milos Rasic has dramatically expanded the capabilities of PlatypusBot with the addition of a Raspberry Pi and ROS 2.
The term “robot” is, by itself, extremely broad, and can include everything from a single motor connected to a microcontroller to a full-fledged humanoid like the 1X Neo. Milos Rasic’s PlatypusBot was originally something like the former: a simple rover driven by two motors and controlled by an Arduino. But now Rasic has dramatically expanded the capabilities of PlatypusBot and transformed it into Perry the Platypus from Phineas and Ferb with Raspberry Pi and ROS 2
ROS 2 is an extremely sophisticated and versatile platform on which people can build all kinds of robots. It provides the infrastructure for software packages that offer many advanced features, such as SLAM (Simultaneous Localization and Navigation) and real-time simulation modeling for tasks like inverse kinematic control.
In this case, Rasic set up ROS 2 on a Raspberry Pi 4 Model B. It controls Perry's drive motors with ROS 2 messages sent over serial to an Arduino UNO R4 WiFi board connected to an L298N dual H-bridge driver. Rasic even implemented PID (proportional-integral-derivative) control algorithms, which allow for smooth and precise positioning.
As this time, the upgraded PlatypusBot only has a few basic functions, like moving a set distance or speed and turning to a specific angle. But because it has all of the power of ROS 2 available, the options for future expansion are almost limitless. Now Rasic has a robotic testbed to use for further experimentation and development.
If you like PlatypusBot, or simply a fan of Phineas and Ferb, there are available instructions and files for building your own.