ROSbot is an autonomous robot platform based on Husarion CORE2-ROS robot controller. It integrates:
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.
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.
|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 camera and LiDAR)|
|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|
|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. More details here.|
|LIDAR||1||RpLidar A2, 360 degree and up to 8m range, more details.|
|Infrared distance sensor||4||SHARP GP2Y0A41SK0F with 4 to 30 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 camera||1||Orbbec Astra with RGB image size 1280x960 and depth image size 640x480.|
|Batteries||3||Li-Ion 18650 protected, rechargeable batteries, 2600mAh 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.|
|Antenna connector||1||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.|
|Power switch||1||Turns ROSbot completely ON or OFF.|
|LEDs||6||LR1(yellow), LR2(blue), L1(red), L2(green), L3(green), PWR(red), more details here.|
|reset button||1||Button used for reset CORE2.|
|hCfg button||1||Button used for connecting ROSbot to Husarion Cloud.|
|hBtn||2||hBtn1, hBtn2 - programable buttons.|
|Power switch||1||Switch to turn on and off the robot. It completely disconnectc all components of ROSbot from its power source.|
|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.|
|IR distance sensor||2||SHARP GP2Y0A41SK0F with 4 to 30 cm range, more details here.|
|hExt||1||12xGPIO, 7x ADC, SPI, I2C, UART, more details here.|
|hSens||1||4 xGPIO, ADC, UART, more details here.|
ROSbot is supplied from an internal, rechargeable Li-Ion battery pack (3x protected 18650 cells). ROSbot shall be charged using a dedicated Li-Ion or Li-Poly charger with 4-pin JST XH connector. If only the right firmware is preloaded to the internal controller (CORE2), the LED1 is programmed to indicate the power status:
Please make sure that the user firmware always contains the function that monitors the supply voltage level. Deep discharging of batteries may decrease their lifecycle. Discharging to the voltage lower than 3.0V/cell can also trigger the overdischarge protection. If the voltage is too low please charge batteries as soon as possible.
If you are going to use ROSbot stationary for a long time, please leave the charger connected all the time. It will increase the batteries lifetime. In 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.
Software for ROSbot can be divided into 2 parts:
OS based on Ubuntu 16.04, which runs on the SBC (ASUS Tinker Board) and contains all 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.
In some cases you will need to flash the OS image to the microSD card once again:
ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. It's very powerful and functional tool dedicated to design robots. We created the set of ROS tutorials dedicated for this platform to make it easier to familiarize yourself with these frameworks.
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.
To do this, you will need a USB 5GHz WiFi card (any device based on rtl8812au should be fine, tested models are TP-Link Archer T4U 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.
sudo apt-get install tinkerboard-kernel
This will install the newest available kernel version, that supports 5GHz WiFi.
Load kernel module:
ifconfig to list network interfaces.
You should see now new interface named
Now, You can list all available newtworks:
sudo iwlist wlan1 scanning | grep ESSID
You can connect to your WiFi with:
nmcli d wifi connect <ESSID> password <pass> iface wlan1
Remember to replace
pass with name and passowrd of chosen network.
ROSbot will try to connect to this network each time it boots.
All helpful documents and links in one place: