The mach1_hardware ROS package is tailored for the Mach1 robot, which utilizes ROS Noetic and is designed to control the Yahboom 4WD expansion board. This package serves as a communication and control interface to manage the hardware components of the robot.

For more detailed information about the Mach1 robot, including hardware specifications and project documentation, please visit the official Mach1 GitHub repository.

Before using this ROS package, ensure that you have the following prerequisites installed:

• ROS Noetic
• Python 3.8: This package is compatible with Python 3.8. Please make sure you have Python 3.8 installed (Python 3.6+ may also work but is not officially supported).

The mach1_hardware package relies on the following external dependencies:

• camera_driver: This C++ library simplifies the process of capturing frames, displaying video feeds, and obtaining camera information. It is used for camera-related functionality on the robot.

• gpiozero_plus: A Python library that enhances the control and interaction with GPIO pins. It provides a convenient interface for managing various hardware components when working with Raspberry Pi. This module is used for GPIO-related tasks on the robot.

1. Clone the mach1_hardware package to your ROS workspace:

   cd ~/your_ros_workspace/src
   git clone https://github.com/yourusername/mach1_hardware.git

2. Build the package using either catkin build or catkin_make:

   • catkin build

   cd ~/your_ros_workspace
   catkin build

   • catkin_make

   cd ~/your_ros_workspace
   catkin_make

3. Source your ROS workspace to make the package available:

   source devel/setup.bash

Julian Rendon ([email protected])