Currently in Beta - Submission environment

Created by: Matthew Romero Moore, Jakob Daugherty, and Kevin Free

• Raspberry Pi
• Pi SD Card with Debian installed
  • Instructions to install Debian from an image can be found here
• iRobot Roomba and connecting cables

1. Make sure that your pi is working and connected to the internet.

• More detailed instructions on configuring your pi can be found here

2. Install the ROS working environment for robot integration

• Follow the instructions provided here to install ROS on your pi
• Make sure you install the Desktop version to enable robot integration.

3. Configure AWSIoT services for new thing (your pi)

• For this you must have an AWS account. You can sign up for one here
• You must also have a Cognito Pool ID. Instructions on setting up AWS Cognito and creating a pool ID can be found here
• Follow the instructions provided by Amazon here to get started with AWSIoT.
• Additionally, you must obtain the generic AWS rootCA certificate when downloading your Thing's individual certificate.
• Make sure to save the following items when configuring AWSIoT
  • Thing Endpoint
  • Thing Certificate and Public/Private key pair
  • Thing Policy name
  • Your AWS Region (e.g., us-west-2)
  • Your AWS Cognito Pool ID

4. Install and Configure Mosquitto

• Instructions for installing Mosquitto on your pi can be found here
• Note: In these instructions, references to an AWS EC-2 instance should be replaced with your pi. Also mostly focus on the bridge.conf section, and how to configure MQTT client for connection to AWSIot
• After this step, I would suggest using mosquitto_sub to test your MQTT connection. More detailed information on mosquitto_sub can be found here

5. Import and setup catkin_ws

• Copy and paste the catkin_ws folder of this repo, into the home folder for your pi.
• invoke catkin_make and source the setup.bash file.
• You may need to provide your own copies of the create autonomy driver. Source code can be found here
• You may need to provide you own copies of the mqtt_bridge libraries and rosbridge_suite. Source code can be found here

6. Install and configure motion

• Instructions for doing so can be found here

To run the standard driver use the following code.

$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch alfred alfred.launch

To run the experimental driver use the following code.

$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch alfred dev-alfred.launch

Note: if the above returns an error, your camera module may need to be enabled using sudo raspi-config or motion may be running in the background and can be stopped using sudo service motion stop

Open the .xcworkspace file in XCode, and follow the instructions located here