⬇️ Install MICKY

To install MICKY, follow the commands below.

Requirements

Make sure you have the following installed:

  • Ubuntu 22.04

  • ROS 2 Humble

  • Arduino IDE or PlatformIO

  • Gazebo Harmonic (or Garden)

Install MICKY Base Controller

Clone the repository:

mkdir -p /micky_ws/src && cd micky_ws/src
git clone https://github.com/FBOTWork/micky_base_controller.git
cd micky_base_controller

Firmware Setup

Upload the firmware to the Arduino Mega:

  1. Open the firmware file:

firmware_micro_controller/firmware.ino

  1. Connect the Arduino

  2. Configure in Arduino IDE:

  • Board: Arduino Mega 2560

  • Port: /dev/ttyACM0 or /dev/ttyUSB0

  1. Click Upload

USB Configuration (udev)

Configure a persistent device name for the Arduino.

Get device information

udevadm info -a -n /dev/ttyACM0 | grep -E 'idVendor|idProduct|serial'

Create udev rule

sudo nano /etc/udev/rules.d/99-arduino_robo.rules

Add:

SUBSYSTEM=="tty", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0043", MODE="0666", SYMLINK+="arduino_robo"

Reload rules

sudo udevadm control --reload-rules
sudo udevadm trigger

Verify device

ls /dev/arduino_robo

(Optional) Add user permissions

sudo usermod -aG dialout $USER

Log out and log back in after running this command.

Install MICKY Simulation

Navigate to your workspace source directory and clone the repository:

cd ~/micky_ws/src
git clone https://github.com/FBOTWork/micky_simulation.git

Install rosdep dependencies:

cd ~/micky_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Install required ROS 2 packages:

sudo apt install -y \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-bridge \
  ros-humble-robot-state-publisher \
  ros-humble-slam-toolbox \
  ros-humble-nav2-map-server \
  ros-humble-xacro \
  ros-humble-rviz2

Building the Workspace

Run once after cloning or modifying package files:

cd ~/micky_ws
colcon build --symlink-install
source install/setup.bash