Installation:

1. Install redis server on linux:

sudo apt update
sudo apt upgrade
sudo apt install redis-server
sudo systemctl start redis
sudo systemctl enable redis

Redis is used only for communication (ipc) between nodes and not for storing data. Disable persisence of redis db. It protects the hard drive or SD card from damage.

Change redis config to disable writing on hd or sd and allow remote connections:

sudo nano /etc/redis/redis.conf

change or append the following settings in redis.conf:

save ""
appendonly no
bind 0.0.0.0
protected-mode no

Restart redis:

sudo systemctl restart redis

2. Install redis client libraries for python:

pip install redis

3. Install starter.py for autostart on boot:

sudo nano ~/.config/autostart/nodestarter.desktop

Insert following lines and correct Exec path to framework path:

[Desktop Entry]
Type=Application
Name=Node Starter
Exec=python3 /home/robot/robotics_framework/starter.py
Terminal=true

---

Helper Scripts:

• control_center.py Easy enable or disable nodes Easy start enabled nodes Easy stop running nodes Easy show live data Easy manipulate data via console Easy install libraries
• starter.py Starts all enabled nodes: Enabled nodes are nodes that begin with node_* All nodes with a different starting name, e.g., _node*, are disabled. Used as starter sript at boot

---

Node Description:

All nodes are optimized for Raspberry Pi 4 and 5. Not hardware specific nodes also running on Windows

node_master

The Brain. Master-Node for controlling system for autonomous driving. includes the state machine for controlling the robot.

requirements

Nothing

node_camera_with_ocr

Node for camera sensor for recognition colors and letters H, S, U with OCR-Framework

requirements

pip install easyocr
pip uninstall opencv-python opencv-python-headless
pip install opencv-python

used keys

• sensor_camera_color => (R, G, B)
• sensor_camera_letter => H, S, U

wiring diagram

Camera	Pi
USB or CSI	USB or CSI

node_camera_without_ocr

Node for camera sensor for recognition colors and letters H, S, U with image-mapping

requirements

pip uninstall opencv-python opencv-python-headless
pip install opencv-python

used keys

• sensor_camera_color => (0, 0, 0) to (255,255,255)
• sensor_camera_letter => H, S, U

wiring diagram

Camera	Pi
USB or CSI	USB or CSI

node_motor_control_mecanum

Node for Motor Control for 4 Motors with Mecanum Wheels

requirements

pip install gpiozero

used keys

• vel_linear_x => -100 to 100
• vel_linear_y => -100 to 100
• vel_angular_z => -100 to 100

wiring diagram

Motor Controller	Pi
IN1	Digital Pin (PWM)
IN2	Digital Pin (PWM)
IN3	Digital Pin (PWM)
IN4	Digital Pin (PWM)
GND	GND and Battery-
5V	3.3V or 5V
12V	Battery+

node_motor_control

Node for Motor Control for 2 Motors (left and right)

requirements

pip install gpiozero

used keys

• vel_linear_x => -100 to 100
• vel_angular_z => -100 to 100

wiring diagram

Motor Controller	Pi
IN1	Digital Pin (PWM)
IN2	Digital Pin (PWM)
IN3	Digital Pin (PWM)
IN4	Digital Pin (PWM)
GND	GND and Battery-
5V	3.3V or 5V
12V	Battery+

node_remote_control_ps4

node for ps4 remote controller via bluetooth

requirements

pip install pygame

used keys

• vel_linear_x => -100 to 100
• vel_linear_y => -100 to 100
• vel_angular_z => -100 to 100
• tool_pen => 0 or 1
• led_blink => 0 or 1

node_remote_control_terminal

node for remote control via terminal

requirements

nothing

used keys

all keys

node_remote_display_terminal

node for displaying all keys in redis db

requirements

nothing

used keys

all keys

node_sensor_color_floor_gy33

node for GY-33 TCS34725 color detecter sensor via i2c

requirements

pip install adafruit-blinka
pip install adafruit-circuitpython-tcs34725

used keys

• sensor_color_floor => (0,0,0) to (255,255,255)
• sensor_color_floor_calibrate => 1
• sensor_color_floor_text => text of color (e.g. red, green, blue)

wiring diagram

Color Sensor	Pi
VCC	3.3V
GND	GND
DR	SDA
CT	SCL

Use DR/CT instead of SDL/SCL on Sensor for I2C. Soldering S0 to GND for I2C Mode of GY33

node_sensor_distance_lidar_vl53l4cd

node for VL53L4CD lidar distance sensors ia i2c

requirements

pip install adafruit-blinka
pip install adafruit-circuitpython-vl53l4cd

used keys

• sensor_distance_front => distance in mm
• sensor_distance_right => distance in mm
• sensor_distance_back => distance in mm
• sensor_distance_left => distance in mm

wiring diagram

|Lidar Sensor|Pi|info| |:---|:---|| |VIN|3.3V|| |GND|GND|| |SDA|SDA|| |SCL|SCL|| |XSHUT|Digital Output|for multisensor only|

XSHUT is necessery for multisensor, it's turn off sensor for programming I2C address

node_sensor_distance_360

node for Slamtec RPLidar C1 360 distance sensors via USB

requirements

nothing

used keys

• sensor_distance_360 => Dictionary => degree:distance => e.g. {0:20, 1:34, 3:12, .....}

wiring diagram

RPLidar C1	Pi
USB	USB

node_sensor_distance_360_vis

Visualition for node_sensor_distance_360 Can also be used remotly

requirements

pip install matplotlib
pip install numpy

used keys

• sensor_distance_360

node_sensor_orientation_floor_pmw3901

node for PMW3901 orientation flow sensor via spi

requirements

pip install pmw3901 spidev

used keys

• sensor_linear_abs_x => absolute distance
• sensor_linear_abs_y => absolute distance

wiring diagram

|PWM3901|Pi|info| |:---|:---|| |3V3|3V3|| |GND|GND|| |MOSI|MOSI|| |MISO|MISO|| |SCLK|SCLK|| |CS|Digital Output|for multisensor only|

working range 80mm to infinity

node_sensor_orientation_bno08x

node for BNO08x orientation and psoition sensor via i2c

requirements

pip install adafruit-blinka
pip install adafruit-circuitpython-bno08x

used keys

• sensor_angular_abs_z => absolute degrees 0 to 359
• sensor_angular_abs_y => absolute degrees 0 to 359
• sensor_angular_abs_x => absolute degrees 0 to 359
• sensor_linear_rel_x => relative distance
• sensor_linear_rel_y => relative distance
• sensor_linear_rel_z => relative distance

wiring diagram

BNO08x	Pi
3V3	3V3
GND	GND
SDA	SDA
SCL	SCL

node_servo_control_16x

Node for Servo Control via 16 channel PWM Driver i2c

requirements

pip install adafruit-circuitpython-servokit

used keys

• servo_0 to servo_15 => 0 to 180

wiring diagram

|PWM Driver|Pi|info| |:---|:---|| |VCC|3V3|logic voltage| |GND|GND|| |SDA|SDA|| |SCL|SCL|| |5V|5V Battery+|motor voltage| |GND|Battery-||

node_sim_maze

node for simulation of maze gametable Creating maps with file maps.xlsx. Use MS Excel as editor

requirements

pip install openpyxl
pip install pygame

used keys

• sensor_angular_z
• sensor_linear_x
• sensor_distance_front
• sensor_distance_right
• sensor_distance_left
• sensor_distance_back
• sensor_front_color
• sensor_floor_color
• vel_linear_x
• vel_angular_z
• tool_pen
• led_blink

node_neopixel

Node for neopixel rgb led stripes

requirements

pip install adafruit-blinka
pip install rpi_ws281x adafruit-circuitpython-neopixel

used keys

• neopixel_color => (R, G, B)
• neopixel_blink => 0 or 1

wiring diagram

PWM Driver	Pi
5V	5V
GND	GND
Data	Digital Output

node_http_server

Node for recieving requests with key and value data POST or GET Requests are possible: GET: http://robotip:5000?key=value POST: http://robotip:5000/ with JSON in body

requirements

pip install flask

used keys

• all available keys

node_system_operations

Node for doing system commands on linux e.g. reboot, shutdown,... it can be triggerd remotely over network

used keys

• reboot => 1
• shutdown => 1

node_remote_control_keyboard

Node for remote steering via keyboard from another computer

requirements

pip install pynput

used keys

• vel_linear_x
• vel_linear_y
• vel_angular_z
• tool_pen
• led_blink

node_esp

Node for ESP8266/ESP32 as Client Communication about WIFI and Redis

used keys

• all available keys

Android Remote App

Remote steering app for android node_http_server is necessary for communication