Husarion ROSbot 2.0 Скачать руководство пользователя

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2/15/2019

ROSbot manual · Husarion Docs

https://husarion.com/manuals/rosbot-manual/#rosbot-manual-overview

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Manuals

ROSbot manual

Overview

ROSbot is an autonomous robot platform based on Husarion CORE2-ROS robot controller available
in two version: 2.0 and 2.0 PRO.

ROSbot is an affordable robot platform for rapid development of autonomous robots. It can be a
base for custom service robots, inspection robots and robots working in swarms. Both version
integrates:

4-wheels mobile platform containing DC motors with encoders and an aluminum frame
Orbbec Astra RGBD camera

ROSbot 2.0 - Autonomous robot development kit

Содержание ROSbot 2.0

Страница 1: ...able robot platform for rapid development of autonomous robots It can be a base for custom service robots inspection robots and robots working in swarms Both version integrates 4 wheels mobile platform containing DC motors with encoders and an aluminum frame Orbbec Astra RGBD camera ROSbot 2 0 Autonomous robot development kit ROSbot 2 0 Autonomous robot development kit ROSbot 2 0 Autonomous robot ...

Страница 2: ...0 PRO CORE2 ROS controller with UpBoard UP RPLIDAR A3 laser scanner You can use your ROSbot offline however we recommend connecting to Husarion Cloud as it gives you access to a lot of additional functionalities like remote management and firmware updates If you do not own ROSbot yet you can purchase it here You can also test the performance of ROSbot using our simulation model in Gazebo environme...

Страница 3: ...f programming autonomous vehicles in ROS Hardware guide Specification Attribute Description Dimensions with camera and LiDAR 200 x 235 x 220mm 7 87 x 9 25 x 8 66in L x W x H Dimensions without LiDAR 200 x 235 x 146mm 7 87 x 9 25 x 5 74in L x W x H Dimensions without camera and LiDAR 200 x 235 x 106mm 7 87 x 9 25 x 4 17in L x W x H Weight 2 84kg 100oz with camera and LiDAR 2 45kg 86oz without camer...

Страница 4: ...l overview 4 13 Wheel diameter Clearance Wheelbase 85mm 22mm 105mm Chassis material Powder coated aluminum plate 1 5mm thick Maximum translational velocity 1 25 m s Maximum rotational velocity 420 deg s 7 33 rad s Maximum load capacity 10kg 352oz Battery life 1 5h 5h Components Husarion Docs ...

Страница 5: ...ith up to 200 cm range more details DC motor 4 Xinhe Motor XH 25D Motor used RF 370 6VDC nominal 5000rpm No load speed at the output shaft 165 rpm Stall torque 2 9 kg cm Stall current 2 2A Gear ratio 34 exact ratio is 30613 900 Encoder magnetic 48ppr 12 poles IMU sensor 1 Powerful 9 Axis Accel Gyro Magnetometer sensor with MPU 9250 more details RGBD 1 Orbbec Astra with RGB image size 1280x960 and ...

Страница 6: ...nt Quantity Description CORE2 ROS 1 Advanced version of CORE2 with an ASUS Tinker board computer CORE2 real time controller is based on STM32F407 microcontroller The SBC runs on Ubuntu based OS customized to use ROS LIDAR 1 RpLidar A2 360 degree and up to 8m range more details In ROSbot 2 0 PRO Component Quantity Description CORE2 ROS 1 Advanced version of CORE2 with an Up Board computer CORE2 rea...

Страница 7: ...s cloud husarion com hBtn 2 hBtn1 hBtn2 programmable buttons Outputs for servo 6 Servo output with PWM more details here USB serial 1 USB serial port used for debugging the firmware on CORE2 ROS controller Charging connector 1 6 pin connector for charging internal Li Ion batteries DC power input 1 DC for working with external 12V power supply Use the power supply included with charger or any 12V m...

Страница 8: ...e batteries in the described way and thanks to that the long life of the battery set is possible The nominal voltage of each cell is 3 7V but the useful range is 3 2V to 4 2V Important discharge indicator If only the right firmware is preloaded to the internal controller CORE2 the LED1 is programmed to indicate the power status the LED1 is on when the robot is turned on the LED1 is blinking when b...

Страница 9: ...ger and the output cable between charger and ROSbot 2 connectors on charger side 1 black connector to ROSbot charging port 2 Use red and blue buttons to select LiPo BATT mode and press Start 3 Use arrows to select LiPo CHARGE mode 4 Press Start the current value should start blinking Use arrows to set the current to 1 5A 5 Press Start again the voltage value should start blinking Select 11 1V 3S u...

Страница 10: ... case you need to replace batteries use only 18650 Li Ion batteries with the capacity in a range of 1800 3500mAh and with a protection circuit Using unprotected batteries may result in serious injuries or fire Unplug charging connectors carefully You shall not unplug the charger connectors holding the wires The balancer connection on ROSbot side has a latching tab see photo below that must be pres...

Страница 11: ...member that you need to use at least 16 GB capacity and 10 speed class micro SD card First steps Connection to Husarion Cloud Things you need the ROSbot any Android device with Wi Fi connectivity and with hConfig app installed available on Google Play and App Store any PC computer to work with ROSbot the Wi Fi network Login or register on cloud husarion com Register your ROSbot on your cloud accou...

Страница 12: ...and D Link DWA 172 If you have recent image version you can skip update and kernel instal otherwise do sudo apt get update This will update packages list Then do sudo apt get install tinkerboard kernel This will install the newest available kernel version that supports 5GHz WiFi Load kernel module modprobe rtl8812au Type ifconfig to list network interfaces You should see now new interface named wl...

Страница 13: ...structions important Charging manual for ROSbot ROS tutorials for ROSbot ROSbot on ROS webpage ROSbot on ROS Wiki URDF model of ROSbot for Gazebo integrated with ROS ROSbot project on hackaday io ROSbot project on instructables com Company About Us Contact Blog Terms of service Developers Documentation Husarion Cloud Community forum Downloads Home Page Social Facebook Twitter GitHub Copyright 2019...

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