Bowling Target Navigation — RZ/V2N Robot

Autonomous bowling pin detection and navigation for the Renesas RZ/V2N mecanum robot. Combines SLAM mapping, YOLO AI detection, and holonomic navigation in a single fullscreen GUI.

┌─────────────────────────────────────────────────────────────────┐
│                     V2N Robot Control GUI                        │
│  ┌────────────────────────┐  ┌────────────────────────────────┐ │
│  │                        │  │                                │ │
│  │     SLAM Map           │  │    Camera + YOLO Detection     │ │
│  │   (robot, laser,       │  │  (bounding boxes, distance,    │ │
│  │    grid, target)       │  │   angle, crosshair)            │ │
│  │                        │  │                                │ │
│  └────────────────────────┘  └────────────────────────────────┘ │
│  [GO TO TARGET]  [STOP]   ● NAVIGATING 0.45m  [SETTINGS] [QUIT]│
└─────────────────────────────────────────────────────────────────┘

Documentation

Guide	Description
Architecture	System architecture, block diagrams, design patterns
How It Works	Complete technical deep-dive: sensing, AI detection, navigation
GUI Guide	GUI layout, controls, settings, keyboard shortcuts
Hardware Setup	Hardware wiring, Arduino protocol, sensor configuration
API Reference	Module, class, and function reference for developers

Quick Start

Prerequisites

Component	Requirement
Platform	Renesas RZ/V2N board (Yocto Linux)
ROS2	Humble Hawksbill
Arduino	Motor controller on `/dev/ttyACM0` (115200 baud)
LiDAR	RPLidar A1 on `/dev/ttyUSB0`
Camera	USB camera on `/dev/video0` (640x480)
Display	HDMI (Wayland/Weston)
Network	WiFi AP at `192.168.50.1`

First-Time Setup (One Command)

# SSH into V2N
ssh root@192.168.50.1

# Copy package (from PC)
scp -r bowling_target_nav root@192.168.50.1:~/ros2_ws/src/

# Run master setup — builds, installs service, starts GUI
cd ~/ros2_ws/src/bowling_target_nav/scripts
./v2n_master_setup.sh

This single command:

Verifies ROS2 Humble is installed
Builds the package with colcon build
Installs a systemd service for auto-start on boot
Starts the fullscreen GUI with SLAM + Camera + Navigation

Daily Usage

After setup, the robot starts automatically on boot. Manual control:

./v2n_master_setup.sh --start    # Start GUI
./v2n_master_setup.sh --stop     # Stop everything
./v2n_master_setup.sh --status   # Check status
./v2n_master_setup.sh --build    # Rebuild package

Service Commands

systemctl status robot       # Check status
systemctl start robot        # Start
systemctl stop robot         # Stop
systemctl restart robot      # Restart
journalctl -u robot -f       # Live logs

How It Works (Summary)

Camera (30fps)              LiDAR (10Hz)            Wheel Encoders (20Hz)
     │                          │                         │
     ▼                          ▼                         ▼
YOLO Detection         Cartographer SLAM           Odometry Node
(DRP-AI or ONNX)       (2D occupancy grid)        (odom → base_link TF)
     │                          │                         │
     └──────────┬───────────────┘                         │
                ▼                                         │
        Navigation Engine (20Hz)  ◄────────────────────────┘
        ├── Vision+LiDAR fusion
        ├── Holonomic path planning
        ├── Obstacle avoidance (strafe)
        ├── Blind approach (dead-reckoning)
        └── Multi-signal arrival detection
                │
                ▼
          /cmd_vel (Twist)
                │
                ▼
        Arduino Motor Controller
        (VEL,vx,vy,wz → 4 mecanum wheels)

The system runs three threads:

GTK Main Thread (30fps) — Renders GUI, handles user input
ROS2 Thread (20Hz) — SLAM/LiDAR callbacks, navigation control loop
Camera Thread (~30fps) — Frame capture, async YOLO detection

All threads communicate through a thread-safe shared state with RLock and 0.1s timeouts.

GUI Controls

Control	Action
GO button / `G` key	Start navigating to detected bowling pin
STOP button / `Space` / `S`	Emergency stop
SETTINGS button	Open 5-tab parameter tuning window
QUIT button / `Q` / `ESC`	Quit application

The GUI shows:

Left panel: SLAM map with robot position (green), LiDAR points (red), navigation target (magenta)
Right panel: Camera feed with YOLO bounding boxes, crosshair on closest pin, distance/angle labels
Status bar: Color-coded navigation state with speed and obstacle info

Navigation States

            ┌────────── STOP pressed ──────────────────┐
            │                                          │
            ▼         GO pressed                       │
      ┌──► IDLE ◄──────────── Search timeout (30s)    │
      │     │                                          │
      │     │ No target visible                        │
      │     ▼                                          │
      │  SEARCHING ──── Target found! ──────┐          │
      │     ▲                               │          │
      │     │                               ▼          │
      │  Target lost >3s           NAVIGATING ◄────────┤
      │  AND far (>0.8m)               │               │
      │     │                          │               │
      │     │                 Target lost >3s           │
      │     │                 AND close (<0.8m)         │
      │     │                          │               │
      │     │                          ▼               │
      │     └─────────────  BLIND_APPROACH             │
      │                          │                     │
      │                 Arrived / LiDAR stop            │
      │                          │                     │
      │                          ▼                     │
      └───────────────────  ARRIVED ───────────────────┘
                         (terminal)

Detection Backends

Backend	Description	Performance	Config Value
DRP-AI	V2N hardware accelerator	~5-10ms inference	`drp_binary`
YOLO ONNX	CPU inference (fallback)	~45ms inference	`yolo_onnx`
Mock	Testing without camera	Instant	`mock`

# Switch backend via environment variable
export V2N_DETECTOR_TYPE=drp_binary

# Or edit config/robot_config.yaml

The system auto-detects: tries DRP-AI first (V2N hardware), falls back to ONNX CPU.

ROS2 Topics

Published

Topic	Type	Source	Purpose
`/cmd_vel`	Twist	Navigation engine	Motor velocity commands
`/odom`	Odometry	odometry_node	Wheel encoder odometry
`/target_pose`	PoseStamped	vision_node	Detected pin position
`/target_detection`	String	vision_node	Detection JSON metadata
`/arduino/status`	String	arduino_driver	Connection status
`/arduino/odom_raw`	String	arduino_driver	Raw encoder telemetry
`/diagnostics`	DiagnosticArray	arduino_driver	System health

Subscribed

Topic	Type	Consumer	Purpose
`/cmd_vel`	Twist	arduino_driver	Motor control
`/scan`	LaserScan	Navigation, SLAM	LiDAR obstacle data
`/map`	OccupancyGrid	GUI, navigation	SLAM map
`/target_pose`	PoseStamped	target_follower	Pin position
`/gui/command`	String	MainGuiNode	GUI command dispatch

TF Frames

map ──► odom ──► base_link ──► laser
   (SLAM)  (encoders)     ├──► camera_link
                          └──► wheel_fl/fr/rl/rr

PC Remote Control

Control the robot wirelessly from your PC:

# Connect to V2N WiFi, then:
cd tools/
python3 pc_robot_controller.py

Controls: WASD movement, Q/E rotation, Space stop, speed sliders.

Project Structure

bowling_target_nav/
├── bowling_target_nav/           # Main Python package
│   ├── nodes/                    # 9 ROS2 entry points
│   │   └── main_gui.py          #   Primary: 3-thread GUI application
│   ├── state/                    # Thread-safe shared state (Singleton + Facade)
│   │   ├── shared_state.py      #   Composes 3 domain stores
│   │   ├── sensor_store.py      #   Map, pose, laser
│   │   ├── detection_store.py   #   Camera, detections, tunable params
│   │   └── nav_store.py         #   Nav state, commands, obstacles
│   ├── nav/                      # Navigation algorithms
│   │   ├── navigator.py         #   Holonomic drive, blind approach, obstacles
│   │   └── target_selector.py   #   Closest pin selection
│   ├── threads/                  # Worker threads
│   │   ├── ros_node.py          #   ROS2 node + 20Hz control loop
│   │   └── camera_worker.py     #   Camera + async YOLO detection
│   ├── gui/                      # GTK3 interface
│   │   ├── main_window.py       #   Fullscreen window
│   │   ├── settings_window.py   #   5-tab parameter tuning
│   │   └── panels/              #   Map and camera renderers
│   ├── detectors/                # AI backends (Strategy pattern)
│   │   ├── base.py              #   DetectorBase ABC
│   │   ├── yolo_onnx_detector.py#   ONNX Runtime CPU
│   │   └── drp_binary_detector.py#  DRP-AI hardware
│   ├── hardware/                 # Hardware abstractions (Factory pattern)
│   │   ├── arduino.py           #   Motor control + encoders
│   │   ├── camera.py            #   Camera capture
│   │   └── lidar.py             #   LiDAR bridge
│   └── utils/
│       └── distance_estimator.py #  Bbox size → distance
├── config/                       # YAML + Lua configuration
├── launch/                       # 7 ROS2 launch files
├── models/                       # YOLO ONNX models
├── scripts/                      # Setup and service scripts
├── tools/                        # PC remote control
├── test/                         # Unit + integration tests
├── urdf/                         # Robot description (TF frames)
└── docs/                         # Documentation

Testing

cd scripts/
./run_tests.sh              # All tests
./run_tests.sh arduino      # Arduino motor tests
./run_tests.sh lidar        # LiDAR sensor tests
./run_tests.sh camera       # Camera + YOLO tests
./run_tests.sh integration  # Sensor fusion tests
./run_tests.sh system       # Full system tests
./run_tests.sh --check      # Check hardware availability

Interactive Test GUIs

./run_tests.sh --gui                # Full system control
./run_tests.sh --visualize-lidar    # LiDAR visualization
./run_tests.sh --visualize-camera   # Camera detection demo
./run_tests.sh --visualize-fusion   # Sensor fusion view

Network

Host	IP	Access
V2N Robot	`192.168.50.1`	`ssh root@192.168.50.1`

Troubleshooting

Hardware Check

ls -la /dev/ttyACM0 /dev/ttyUSB0 /dev/video0

Robot Not Responding

./v2n_master_setup.sh --stop && ./v2n_master_setup.sh --start

GUI Not Starting

journalctl -u robot -n 50    # Check logs
echo $WAYLAND_DISPLAY        # Should be "wayland-0"
echo $XDG_RUNTIME_DIR        # Should be "/run"

Rebuild

./v2n_master_setup.sh --build

License

MIT

Name		Name	Last commit message	Last commit date
Latest commit History 4 Commits
bowling_target_nav		bowling_target_nav
config		config
docs		docs
launch		launch
maps		maps
models		models
resource		resource
scripts		scripts
test		test
tools		tools
urdf		urdf
.gitignore		.gitignore
README.md		README.md
package.xml		package.xml
setup.cfg		setup.cfg
setup.py		setup.py

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Repository files navigation

Bowling Target Navigation — RZ/V2N Robot

Documentation

Quick Start

Prerequisites

First-Time Setup (One Command)

Daily Usage

Service Commands

How It Works (Summary)

GUI Controls

Navigation States

Detection Backends

ROS2 Topics

Published

Subscribed

TF Frames

PC Remote Control

Project Structure

Testing

Interactive Test GUIs

Network

Troubleshooting

Hardware Check

Robot Not Responding

GUI Not Starting

Rebuild

License

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SolidRun/bowling_target_nav

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Bowling Target Navigation — RZ/V2N Robot

Documentation

Quick Start

Prerequisites

First-Time Setup (One Command)

Daily Usage

Service Commands

How It Works (Summary)

GUI Controls

Navigation States

Detection Backends

ROS2 Topics

Published

Subscribed

TF Frames

PC Remote Control

Project Structure

Testing

Interactive Test GUIs

Network

Troubleshooting

Hardware Check

Robot Not Responding

GUI Not Starting

Rebuild

License

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