Roboworks A1 Rosbot Autonomous Ground Vehicles User Manual

Rosbot User Manual
Prepared by: Wheeled Inc.
Translated by: Ropeworks Pty. Ltd.
6 July 2022
Version: #1

A1 Robot Autonomous Ground Vehicles

SUMMARY
Robot is both ideal for ROS beginner or experienced developer. The key components of Robot can be tailored towards your needs and budgets. The entire package is flexible and practical. Customers can switch between ROS 1 or ROS 2 easily. The main control unit can be based on Jetson Nano, Raspberry Pi or x86 Industrial PC. Onboard sensors include depth camera and LiDAR. Available accessories can range from lightweight robotic arms, LCD displays to larger battery packs. Each Robot comes  with free tutorials backed by  ROS communities around the globe. Robot is your welcome ticket to the world of ROS developers.

KEY FEATURES

• Ideal for Autonomous Mobile Robot (AMR) and Autonomous Driving Prototype projects.
• ROS Controllers – Raspberry Pi/Jetson Nano/Jetson TX/Xavier/x86
• Built-in Slate/LD/Robot Sense LiDAR, Orbed Depth Camera
• Remote controlled by mobile apps (iOS and Android)

PRODUCT FAMILY

1. Robot Mini
   • Entry level package
   • Ideal for ROS beginner, educator and students
2. Robot Pro
   • Professional level package
   • Ideal for AMR R&D projects
3. Robot Pro 4WIS
   • Ideal for product prototyping
   • Strong outdoor performance
   • Suitable for autonomous driving R&D projects

SPECIFICATIONS

Product Matrix
Product Name	Robot Mini	Robot Pro	Robot Pro 4WIS
Motor Reduction Ratio	1:27	1:18	1:18
Max Speed	1.3m/s	1.65m/s	2.33m/s
Weight	5.92kg	19.54kg	35 .16kg
Max Payload	10kg	35kg	22kg
Size	445*358’125mm	774’570’227mm	766’671.319mm
Minimal Turning Radius	0.77m	1.02m	1.29m
Battery Life	About 8 hours (no load), About 7 hours (fully load)	About 4 hours About 2.5 hours (no load), (fully load)
Power Supply	22.2v 5000mah battery + 2A current smart charger
Steering Gear	HWZ020 20kg torque digital servo	WHO60 60kg torque digital servo
Wheels	125mm diameters solid rubber wheels	150mm diameters solid rubber wheels	254 mm inflatable rubber wheels
Encoder	500 line AB phase high precision encoder
Suspension System	Coaxial Pendulum Suspension System		4W Independent Suspension System
Control Interface	OS & Android App via Bluetooth or Wifi, PS2, CAN, Serial Port, USB

ROS CONTROLLERS COMPARISON

CHASSIS DESIGN DIAGRAM

Note:

• MD36NP27 is used for high grade version normal type car
• MD36NP51 is used for high grade version heavy-duty type car

OPTIONAL VOICE MODULE

Ring six microphone array voice module, suitable for Linux f Ubuntu operating system
The Engineer shall provide the whole process technical support

Optional high aluminum alloy plate

The optional heightening aluminum alloy plate has only the first and second layers by default. If more space is required, the optional heightening aluminum alloy plate can be selected Gold plate. The mounting holes of the second, third and higher layers can be customized if necessary To customize, you can negotiate specific matters and expenses with customer service. The customized delivery date is generally the same Ship the next day or the next day.

This is the effect of heightening one layer. The heightening plate is detachable.
 Roadmap vision and lidar mapping navigation
Supports visual SLAM. ‘napping. hector, Lotto. Goods Cartographer and (Abet algorstfwns to build maps, supports Ned point navigation, mulls pant navigation
Lidar follow
Lidar can follow any object including people in all directions;
Depth camera follow
 Through the RGBO depth cans& you can immune the distance to the front obol and follow

Visual patrol
The camera can be navigated by sticking lines, Of d ‘nary rac total glue can be unwed, the color of the line patrol is blue and black red, green, yellow, etc adjustable
Support APP control, view images, map creation, navigation
Realise car mapping and 20 navigation functions through Android ROSAPP
RRT autonomous exploration and mapping
No need to manually control the cat, use the RRT algorithm to autonomously complete the etplotat ion map. save the map, and return to the starting point

HWZ020 SERVO FOR HIGH GRADE VERSION

• Maximum angle: 180°
• Voltage: 4.8-7.4V
• Torque: 20kg.cm
• Reaction speed: 0.14sec/60°
• Servo type: digital servo
• Gear: metal gear
• Net weight: 59.6g
• Working dead zone: 3us

INTERFACE DESCRIPTION

• CAN: The mobile platform can receive commands from the CAN port, or send its own data (odometer and IMU) through the CAN port
• Serial port: The mobile platform can receive commands from the serial port and send its own data (odometer and IMU) through the serial port
• USB interface: used to connect to the computer, download the program with one key, and receive the command control sent by the computer and send its own data (odometer and IMU) to the serial port
• Bluetooth (or wifi): can send its own information to APP, can receive APP remote control commands, can adjust PID parameters
• For PS2 interface: Provide socket for PS2 controller, provide code plug and play
• SWD interface: Provide SWD interface for online debugging

OPEN SOURCE AND ALGORITHM DESCRIPTION

• Provide the complete source code of the mobile platform and the schematic diagram of the controller. Provide detailed communication protocol and development manual of the interface. Provide PID development notes and video tutorials.
• The mobile platform is mainly to solve the problem of “making wheels” in everyone’s projects. Built-in PID closed-loop control and kinematic analysis, can receive commands from serial ports, CAN and even laptops.

ROS KIT WITH ROS MASTER, LIDAR AND DEPTH CAMERA

• ROS master: For Raspberry Pi 4B (2G+32G), Jetson Nano B01, Jetson TX2, industrial computer, etc. (optional)
• Bottom master: STM32F103RCT6 (based on operating system for Ferrets)
• Operating system: For Ubuntu 18.04+ROS melodic
• Lidar: SLAMTEC RPLIDAR A2 (If you need A1, A3, S1 and other radars, please contact customer service)
• Camera: For Astra Pro depth camera
•  Functions: remote control, lidar mapping and navigation, visual mapping and navigation, multi-point cruise, lidar follow, depth vision follow, visual line patrol, APP image transmission, etc.
• Attention: It has been assembled and debugged for the above functions, and you can use them when you get them.
• Open source: open source the full set of underlying code for the above functions, ROS source code, development manual, video tutorial
•  Camera angle: manually adjustable

FUNCTION LIST

MORE DETAILS

• Roadmap vision and lidar mapping navigation: support for vision SLAM, gapping, hector, carto, Google Cartographer and other algorithms for mapping. Support fixed-point navigation, multi-point navigation
• Lidar follow: Lidar can follow any object including people in all directions
• Depth camera follow: Through the RGBD depth camera, you can measure the distance to the front object and follow
• Visual line inspection: The camera can navigate by sticking lines, and the general electrical glue can be used. The color of the patrol line is blue, black, red, green, yellow, etc. adjustable
• Support APP control, view images, build maps, and navigate. It can display the camera image on the mobile phone at the same time when it can be controlled by APP, and control from the first perspective
• Autonomous exploration and mapping: no need to manually control the car, use the RRT algorithm to autonomously complete the exploration and mapping, save the map, and return to the starting point
• Multi-aircraft formation: multi-aircraft cooperative operation, distributed formation control, support singlepoint and multi-point navigation functions
• Support airplane model remote control: Built-in remote control interface of airplane model, plug in the remote control of airplane model, and it can be controlled normally
• Support for PS2 wired controller: Built-in interface and program, connect it and use it
• Snow protection grade tires: Snow skid-proof standard/metal wheels. High grade version uses solid rubber wheels with a diameter of 125mm. Single wheel weighs 0.48kg
• Humanized design and multiple protections: This system board is suitable for motion control projects, such as robots, balancing cars, and inverted pendulums. Reverse connection protection, overcurrent protection, short circuit protection, electrostatic protection, CAN controller, integrated MPU6050
• Micro USB data cable, one-click download: Are you tired of the tedious steps of plugging and unplugging the Dupont cable, modifying the BOOT0 setting, and pressing the reset button every time you adjust the program? We provide a one-click download function, using a Micro USB data cable to download the program and communicate with the serial port
• Industrial-grade dual-channel DC motor drive module: built-in over-voltage protection, under-voltage protection, over-heat protection, control signal optocoupler isolation

SLAMTEC RPLIDAR A2

• 5-year lifespan
• OPTMAG optical and magnetic fusion
• 18 meters measuring radius
• 4CM ultra-thin appearance
• Measurement frequency 8000 times/sec

Provide a rich ROS development manual

1. ROS development tutorial
2. Ubuntu configuration tutorial
3. STM32 Moving Chassis Development Manual

Newly launched code-level ROS development manual
Introducing the Gazebo Getting Started Manual
(170 pages, updated on October 29, 2021)

Standard coaxial pendulum suspension system

Because the three point surface is lamed, if the floor is rigid, the four-wheeled car will have an unavoidable problem The wheels are prone to hang in the air and cannot be debugged normally, not to mention indoor navigation and automatic driving.
Our car is equipped with a coaxial pendulum suspension system on the premise of being equipped with an aluminum alloy floor, which can adapt to uneven ground

Support remote control of airplane model
Built-in model airplane remote control interface, plug in the model airplane remote control and it can be controlled normally

Equipped with snow protection grade tires
snow said standard I metal wheels
Humanized design and multiple protection
This system board is met& for motion control projects Such as robots, balance Carts, inverted pendulums, SC. aft also better chokes at present
Reverse connection protection
Overcurrent protection
Short circuit protection
Electrostatic protection
CAN controller
Integrated MPU6050

MicroUSB data cable One-click download

Are you tired of the tedious steps of plugging and unplugging the Dupont cable. n )(Allying the BOOTO setting, and pressing the reset button every time you adjust the program? We provide a one-clkk download function, using a Mk roUSB data cable, you can download programs and communicate with the serial port
With industrial-grade dual-channel DC motor drive module
Built-in overvolt age, undervoitage, overheat protection, control signal opt oc oupler isolation

Hardware inventory

The dashed box Is the accessories included in the ROS package

Battery parameters
We cooperate with hr st -line battery supplies
Upgrade dew capacity to 5000m ah (default standard configuration) Equipped with a special charger with multiple protections such as over discharge, overshoot, short circuit, overvoltage, etc.

NEW BLUETOOTH & WIFI VERSION APP

• Support gravity sensor remote control and two-hand button remote control mode.
• Support 5-channel waveform display interface, you can view the waveform at any time without the data line.
• Support 9-channel parameter adjustment interface, support PID parameter online adjustment and power-off save.
• Optimize electric quantity alarm mechanism, the APP accurately pushes low-voltage alarm notifications to avoid over-discharge.
• Support for BLE Bluetooth 4.0 module.
• Support the latest version of the system for Android.

PACKING LIST

Chassis Parts:

•  4 x 125mm Diameter Solid Rubber Wheels
• 1 x HWZ020 20kg Torque Digital Servo
• 2 x MD36N 35W DC Brush Motors
•  2 x Simple L-shaped Motor Brackets
• 1 x Set of Aluminum Alloy Plate (as chassis frame)
• 3 x Small Tie Rods
• 2 x Small Steering Cups
• 2 x 500 Line AB phase Photoelectric Encoders
• 1 x Mini Linear Guide
• 1 x Coaxial Pendulum Suspension System
• Several Screws, Nuts, Pillars, Wires

Electric Control Parts:

• 1 x STM32F103RC Controller (integrated IMU CAN, etc.)
• 1 x Dual MOS Large Current DC Motor Drive Module
• 1 x Adapter Board
• 1 x Bluetooth Module
• 1 x OLED Display
• 1 x Charger
• 1 x Data Download Cable
• 1 x Flat Cable
• 1 x Wired Controller Joystick

ROS Parts:

• ROS Master For Jetson Nano B01
• 1 x SLAMTEC RPLIDAR A2
• 1 x Depth Camera & Angle Adjustment Mechanism
• 1 x 32G Memory Card
• 1 x Large-Volume Metal Heat Sink (For Jetson Nano B01)
• Several Cables

www.roboworks.com.au/support

References

• Robot Educational Programable Mobile Robots | Roboworks