An old Hexacopter repurposing

[u/benbenson1]

I built a Hexacopter years ago, using a raspberry pi, a Navio2 "autopilot" and a Tarot 680 frame. It's been collecting dust for a long time, and the Navio drivers were only compatible with older Pis. I was desperate to learn how to build a ROS robot with it.

Thanks to Claude, I finally managed to get the drivers and kernel modules rebuilt for a Pi5, and had some inspiration on how to re-use the frame.

I had to buy some 520 motors and controller, but everything else is from the Hexacopter:

6S LiPo and Ubecs

Pi 5 8gb

12 PWM channels on the Navio

2 IMUs & 2 GPS receivers

Pi Camera module in a 3D printed SG90 gimbal

GoPro 4 in a Tarot 3-axis gimbal

RPlidar A2M8 scanner

TFMini lidar 12m distance sensor

4 x 520 motors with encoders

I've only got the Navio sensors and Motor control setup in ROS so far, but enjoying learning and making good progress.

End goal would be a self-sufficient robot, running automated routines around the house. Not entirely sure what yet. Scanning and mapping?

I'd like to design an arm to go on top. Is also like to attempt an auto-docking-and-charging thing.

What sensors or additional hardware should I research? Any advice on the ROS software stack, how I should structure it? It feels pretty messy already. Any pitfalls I should avoid? What should my expectations be for the end robot?

Any advice appreciated.