2/15/2019 ROSbot manual · Husarion Docs Husarion Docs › 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 2.0 - Autonomous robot development kit 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.
/15/2019 ROSbot manual · Husarion Docs MPU 9250 inertial sensor (accelerometer + gyro) Husarion Docs rear panel providing interfaces for additional modules In ROSbot 2.0: CORE2-ROS controller with Asus Tinker Board RPLIDAR A2 laser scanner Front Back Perspective Back Perspective In ROSbot 2.
2/15/2019 ROSbot manual · Husarion Docs Husarion Docs You can find free ROS tutorials dedicated for ROSbot under this link. They will guide you through different aspects of 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.
2/15/2019 ROSbot manual · Husarion Docs Wheel diameter / Clearance / 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 Husarion Docs Wheelbase Components https://husarion.
2/15/2019 ROSbot manual · Husarion Docs Husarion Docs Components description Component Quantity Description Infrared distance sensor 4 VL53L0X Time-of-Flight distance sensor with 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.
2/15/2019 ROSbot manual · Husarion Docs camera Husarion Docs Batteries 3 640x480. Li-Ion 18650 protected, rechargeable batteries, 3500mAh capacity, 3.7V nominal voltage Note: Device may be shipped interchangeably with similar batteries. Antenna 1 Connected directly to the ASUS Tinker Board Wi-Fi module. Uses an RP-SMA(m) <-> I-PEX MHF4 cable to connect the antenna with SBC. In ROSbot 2.0: Component Quantity Description Advanced version of CORE2 with an ASUS Tinker board computer.
2/15/2019 ROSbot manual · Husarion Docs Antenna Docs Husarion 1 connector Wi-Fi antenna RP-SMA socket. Required for Wi-Fi connectivity. USB 2 USB 2.0 host ports from SBC. HDMI 1 HDMI output from SBC. 1 Turns ROSbot completely ON or OFF. Power switch LEDs reset button 6 1 LR1(yellow), LR2(blue), L1(red), L2(green), L3(green), PWR(red), more details here. Button used for reset CORE2.
2/15/2019 ROSbot manual · Husarion Docs ROSbot is powered from an internal, rechargeable Li-Ion battery pack that contains 3 Li-Ion cells, Husarion Docs connected in series. This type of connection is called “3S”. The schematic below explains how the cells are wired together and with the charging connector (on ROSbot side). The BAT+ and BAT- are the power connections and the “bal Bxx” wires are used to monitor the voltage on each cell.
2/15/2019 ROSbot manual · Husarion Docs Husarion Docs The ROSbot kit contains the Redox Beta charger. It is an universal charger, suitable for charging NiCd, NiMH, Li-Po, Li-Fe, Li-Ion and Pb (AGM, VRLA) batteries. ROSbot shall be charged using an included charger and cable. Charger kit includes: Redox Beta charger AC/DC power adapter 100...240V to 12V 5A with 5.5/2.5mm plug on the 12V side a cable to connect charger with ROSbot charging port Quick charging guide: 1.
2/15/2019 ROSbot manual · Husarion Docs If you need more information about charging, please read the Charging manual for ROSbot in PDF Husarion Docs format. Notes You can change charging current to maximum 3A. Please note that a regular charging with the maximum current can shorten the battery life. If you are going to use ROSbot stationary for a long time, you can use ROSbot with charger connected (and charging) all the time. It will increase the batteries lifetime.
2/15/2019 ROSbot manual · Husarion Docs OS based on Ubuntu 16.04, which runs on the SBC (ASUS Tinker Board) and contains all Husarion Docs components needed to start working with ROS immediately. The microSD card with OS is included with each ROSbot. The OS has been modified to make the file system insensitive to sudden power cuts.
2/15/2019 ROSbot manual · Husarion Docs Configuring Husarion Docs ROSbot to work with 5GHz WiFi. By default ROSbot supports WiFi in 2.4GHz band, this is sufficent for most cases. If you encounter problems with data transfers e.g. due to processing large amounts of data or noise from other networks you can try to use connection in 5GHz band.
2/15/2019 ROSbot manual · Husarion Docs Docs and links Husarion Docs All helpful documents and links in one place: ROSbot Safety Instructions - 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.