Tengu Marauder

Tengu Marauder is a versatile ROS2-based robotic platform integrated with ESP32 for advanced communication and control functionalities. This project leverages wireless communication and provides a modular framework for various robotic components, including motor control, data processing, and operator interfaces.

I reccomend reading the Hackaday build guide for more in depth instructions on the physical build and programming process: https://hackaday.io/project/197212-tengu-maraduer

Our 3D printable files are available at: https://www.printables.com/model/964421-tengu-marauder-frame

Current Stable Build

• Ubuntu 24.04 Pi: https://ubuntu.com/download/raspberry-pi
• ROS2 Humble Hawksbill: https://docs.ros.org/en/humble/index.html
• Python 3.13.X: https://www.python.org/downloads/
• SunFounder Robothat Drivers: https://github.com/sunfounder/robot-hat

Development and Testing Build

• Ubuntu 24.04 Pi: https://ubuntu.com/download/raspberry-pi
• ROS2 Jazzy Jalisco: https://docs.ros.org/en/rolling/Releases/Release-Jazzy-Jalisco.html
• Python 3.13.X: https://www.python.org/downloads/
• Customized SunFounder Robothat Drivers: https://github.com/ExMachinaParlor/robot-hat

Features

• Motor Control: Manage and control the motors of the robotic platform.
• ESP32 Integration: Interface with ESP32 for additional functionalities.
• Data Processing: Handle and process sensor data.
• Operator Interface: Interface for manual control and monitoring.

Installation

https://hackaday.io/project/197212/instructions

Reccommended

• Motor Test: Test motor function with motorcontrol.py under launch

Prerequisites

• ROS2 Humble: Ensure you have ROS2 Humble installed.
• Python 3: Make sure Python 3 is installed.
• djitellopy: We were testing this on a DJI Tello with the dji tello py library pip install djitellopy

Steps

1. Clone the Repository:

   git clone https://github.com/exmachinaparlor/Tengu-Marauder.git
   cd Tengu-Marauder

2. Setup ROS2 Workspace:

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src
   ln -s ~/path_to_cloned_repo/Tengu-Marauder .
   cd ~/ros2_ws
   colcon build
   source install/setup.bash

3. Install Python Dependencies:

   pip install -r requirements.txt

Usage

We reccomend you install some sort of serial interface system on your Tengu Marauder. We use minicom to access the ESP32 Marauder onboard our current build.

Launching the Nodes

To launch the Tengu Marauder system, use the provided launch file:

ros2 launch tengu_marauder tengu_marauder_launch.py

Running Individual Nodes
You can also run individual nodes separately for testing:

ros2 run motor_control motor_control_node
ros2 run xbee_comm xbee_comm_node

Bill of Materials:

• Raspberry Pi 4 : https://www.canakit.com/raspberry-pi-4-starter-max-aluminum-kit.html
• 2x TTmotors: https://www.adafruit.com/product/3802
• SunFounder Raspberry Pi Motor Hat: https://tinyurl.com/56xck4md
• 3D Printed Parts: https://www.printables.com/model/964421-tengu-marauder-frame
  1. Outershell
  2. Undershell
  3. Wheels
  4. Back wheel
• ESP32-S3: https://www.adafruit.com/product/5364
• Pre-Flashed Marauder Board: https://www.pcbway.com/project/shareproject/Bruce_PCB_Smoochiee_d6a0284b.html