Hello John,

Welcome to the world of robotics! It's great to hear that you're starting with a TurtleBot based on a Raspberry Pi. Let's explore how you can interface your robot with Synthiam ARC.

Steps to Interface Your Robot with Synthiam ARC

1. Install ARC on Raspberry Pi:

   • You can run ARC on a Raspberry Pi by installing Windows 11. This requires a Raspberry Pi 4 or newer with at least 8GB of RAM. It's recommended to use an SSD external drive for better performance.
   • Follow the instructions for installing Windows 11 on Raspberry Pi here.

2. Use an EZ-B Controller:

   • Option 1: Connect an EZ-B controller directly to the Raspberry Pi. This can be done via USB or WiFi. The EZ-B controller will handle the I/O operations, such as controlling servos, sensors, and motors.
   • Option 2: Use an EZ-B controller on a separate device and connect it to the Raspberry Pi over the network. This setup allows the Raspberry Pi to focus on processing tasks while the EZ-B handles hardware control.

3. Configure ARC:

   • Once ARC is installed, you can add various robot skills to control your robot's components, such as the camera, distance sensors, and motors.
   • Use the Servo Controls to manage your robot's movement and sensors.

4. Explore Robot Skills:

   • ARC offers a wide range of robot skills that you can add to your project. These include camera tracking, speech recognition, and more. You can find tutorials and guides on creating custom robot skills here.

5. Experiment and Learn:

   • Start by experimenting with simple tasks, such as moving the robot or using the camera. Gradually, you can explore more complex functionalities like navigation and obstacle avoidance.

Additional Resources

• Getting Started with ARC: Robot Tutorials
• Raspberry Pi Support: Raspberry Pi Hardware Guide

Feel free to ask more questions if you need further clarification or assistance. Enjoy building and programming your robot!

Best, Athena

Hey @skeem,

I’m not sure what kind of hardware the third-party TurtleBot you have uses, but the original Robotis one comes with their controller to interface the Raspberry Pi with the servos. First, you’ll need to identify the controller your bot is using and load EZB firmware onto it. Once that’s done, you’ve got a few options for using the Raspberry Pi:

1. Install Windows 11 on the Pi: You can VNC or RDP into its UI to program it. ARC runs on the Pi in Windows 11.

2. Turn the Pi into an EZB: Install one of the Pi EZB firmwares to convert the Pi into an EZB, which can control the microcontroller for the servos. This method is a bit more complex, so I’d suggest avoiding it unless you’re comfortable with it.

3. Skip the Pi altogether: Connect your robot directly to your PC using a long USB cable for simplicity. That way, you can start programming immediately without modifying the Pi setup. This is a great way to determine if ARC is the path you want to take.

The TurtleBots I’ve worked with all include a LiDAR sensor. Does yours? If so, combining it with SLAM (Simultaneous Localization and Mapping) is incredibly fun. For that, I recommend the Better Navigator robot skill.

It’s as simple as clicking to add the Camera robot skill in ARC for the camera and other features.

Hello @DJ_Sures,

Thank you for sharing your insights! Your suggestions are spot-on for interfacing a TurtleBot with Synthiam ARC. Let's break down the options you mentioned for @skeem:

Options for Using the Raspberry Pi with ARC

1. Install Windows 11 on the Pi:

   • This option allows you to run ARC directly on the Raspberry Pi. You can use VNC or RDP to access the Pi's UI and program it with ARC.
   • This setup is ideal if you want to keep everything on the Pi and take advantage of its processing capabilities.

2. Turn the Pi into an EZB:

   • By installing one of the Pi EZB firmwares, you can convert the Raspberry Pi into an EZB. This allows the Pi to control the microcontroller for the servos.
   • This method is more complex and may require some technical expertise, so it's best suited for those comfortable with firmware modifications.

3. Skip the Pi Altogether:

   • For simplicity, you can connect your robot directly to your PC using a long USB cable. This allows you to start programming immediately without modifying the Pi setup.
   • This approach is great for getting started quickly and determining if ARC is the right fit for your project.

Additional Considerations

• Identify the Controller:

  • Determine the controller your TurtleBot uses. If it's similar to the original Robotis TurtleBot, it may have a specific controller for interfacing with the Raspberry Pi and servos. Loading EZB firmware onto this controller will be necessary.

• LiDAR and SLAM:

  • If your TurtleBot includes a LiDAR sensor, you can explore SLAM (Simultaneous Localization and Mapping) for advanced navigation. The Better Navigator robot skill in ARC is excellent for this purpose.

• Adding Robot Skills:

  • You can easily add robot skills like the Camera skill in ARC to utilize the camera and other features of your TurtleBot.

Feel free to reach out if you have more questions or need further assistance. Enjoy your robotics journey!

Best, Athena

@Skeem did you make any progress? What direction are you thinking of taking

Hey DJ,

Since all the cotrol seems to be going thru the pi, I am going to replace the OS with Windows 11 and add ARC right to the pi. I have experience using VNC so it should be a good fit. Also, I am definitely looking to add the RPi Lidar to this bot.  I am excited for the potential. Also, if I can get this to work, I have a similar setup with a hexapod run with a RPi as well.

Thanks for all the assistance and encouragement,

John

I'll recommend the RP Lidar C1 for the performance and cost. It out performs the A1 considerably. I have been using it with a new robot skill that is being released next week that uses a 4 DOF IMU (accelerometer, gyro). Rather than using wheel encoders, it uses the IMU for odometry with the lidar. It so far works really good.

I would like to see the wheel encoder work with the IMU as well for pose data. But I haven't tested that yet.

Thanks for the heads up. I am looking forward to the process. ARC really feels very intuitive.

I hope to be posting my progress.

John

Not sure if you saw this - but it's a quick tutorial with the turtlebot and the rp lidar a1. You'll get the same or better out of the c1 for sure.

DJ, could you share what kind of 4 DOF IMU will be used. I am just finishing my robot platform and could include it.

6050 because it’s the most popular