This ROS package provides support for the RaspTank robot from Adeept.

You will need to enable the Camera and I2C (for the Motor HAT) on the Raspberry PI.

Clone the repository into a catkin workspace and build.

There is also a docker image, and the latest build should be available from GitHub Packages;

docker run --rm --device=/dev/mem --device=/dev/gpiomem --device=/dev/video0 -e "ROS_MASTER_URI=http://pi3:11311" docker.pkg.github.com/stevedenman/rasptank-ros/rasptank-ros:arm32v7-melodic

Or if you want to look inside the container;

docker run --rm -it --device=/dev/mem --device=/dev/gpiomem --device=/dev/video0 -e "ROS_MASTER_URI=http://pi3:11311" docker.pkg.github.com/stevedenman/rasptank-ros/rasptank-ros:arm32v7-melodic /bin/bash

The docker image has been tested running on a host running Raspbian. There are some groups and device permissions that need setting in-order that the GPIO pins and camera can be accessed. I'm not sure if the groups will necessarily be the same on other host OS.

• Improve motor control.
• Add OpenCV for image processing for object recognition and tracking.
• Arm motor control.
• LED's.