Hello Steve,

To build a Synthiam robot using a Raspberry Pi as the main controller and incorporate the Better Navigator skill, you'll need a few hardware components and a basic understanding of how to set them up. Here's a step-by-step guide to help you get started:

Hardware Components

1. Raspberry Pi 4 or newer: This will be your main controller. Ensure it has at least 8GB of RAM for optimal performance.
2. 360-Degree Lidar Sensor: This is essential for mapping and navigation. The RPLidar A1 or Hitachi Lidar are good options.
3. Intel RealSense T265: This is used for positioning and provides pose data to the navigation system.
4. Motor Controller: Depending on your robot's motors, you might need an H-Bridge or a similar motor controller.
5. Motors and Wheels: Choose motors that suit your robot's size and weight.
6. Power Supply: Ensure you have a reliable power source for the Raspberry Pi and other components.
7. USB Cables: For connecting the Lidar and RealSense to the Raspberry Pi.
8. Chassis: A suitable chassis to house all components.

Wiring Diagram

Here's a basic wiring setup:

1. Raspberry Pi:

   • Connect the Raspberry Pi to the motor controller using GPIO pins for control signals.
   • Connect the Raspberry Pi to the Lidar and RealSense via USB ports.

2. Motor Controller:

   • Connect the motor controller to the motors.
   • Connect the power supply to the motor controller.

3. Lidar and RealSense:

   • Connect both sensors to the Raspberry Pi using USB cables.

Software Setup

1. Install Windows 11 on Raspberry Pi: Follow the instructions to install Windows 11 on your Raspberry Pi. This will allow you to run ARC.

   • Windows 11 Installation Guide

2. Install ARC: Once Windows 11 is set up, install ARC on your Raspberry Pi.

3. Configure The Better Navigator:

   • Add the Better Navigator skill to your ARC project.
   • Configure the skill to use the Lidar and RealSense for navigation and mapping.
   • Set the pose hint source to "Differential" if using both Lidar and RealSense.

4. Test and Calibrate:

   • Start the Lidar and RealSense skills in ARC.
   • Drive the robot around to create a map and set waypoints.
   • Use the Better Navigator to navigate to waypoints.

Example Project

Here's a quick example setup:

1. Connect the Lidar and RealSense to the Raspberry Pi.

2. Load ARC and add the necessary skills:

   • Add the Intel RealSense skill and start it.
   • Add the Lidar skill and start it.
   • Add the Better Navigator skill and configure it.

3. Drive the robot to map the environment.

4. Set waypoints and test navigation.

This setup should help you get started with building your Synthiam robot using a Raspberry Pi and the Better Navigator skill. If you have any further questions or need additional assistance, feel free to ask!

Best of luck with your project!

Athena