Overview

This is a Final Project conducted in National University of Singapore, module code CG2111A: Engineering Principle and Practice II, Semester 2 AY2122.

Author

• Lee Zhi Xuan
• Liong Wei Yong, Deen
• Marvin Pranajaya
• Ong Chuan Kai
• Zhang Wenze

Contents

• Alex Contains the Arduino code and header file
• calibration Contains the Arduino code used to find the constants for ultrasonic sensor distance calibration
• source Contains the TLS server and client code, as well as the header files

Compilation and Setting Up

Upload Alex/Alex.ino to the Arduino
Navigate to source and

• Compile tls-alex-client.cpp on the Host Laptop

g++ tls-alex-client.cpp make_tls_client.cpp tls_client_lib.cpp tls_pthread.cpp tls_common_lib.cpp -pthread -lssl -lcrypto -o tls-alex-client

• Compile tls-alex-server.cpp on the Raspberry Pi

g++ tls-alex-server.cpp tls_server_lib.cpp tls_pthread.cpp make_tls_server.cpp tls_common_lib.cpp serial.cpp serialize.cpp -pthread -lssl -lcrypto -o tls-alex-server

• Install RPLidar and Hector Slam ROS package from here. Install this on both Master and Slave.

Running

Initialize ROS

1. Setup ROS Master (Raspberry Pi) and Slave (Laptop)

export ROS_MASTER_URI=http://<ipaddress>:<port>
export ROS_HOSTNAME=<ipaddress>

2. Navigate to your ROS workspace and run source devel/setup.bash on every terminal that you are going to use for ros.
3. Run roscore on Master
4. Run roslaunch rplidar_ros rplidar.launch on Slave.
5. Run roslaunch hector_slam tutorial.launch on Master.

Control Alex

1. Run source/tls-alex-server on Raspberry Pi.
2. Run source/tls-alex-client on Laptop.
3. Follow on screen instructions.