Roboworks Hwz020 Rosbot Ros Education Robot User Manual

Education Robot User Manual
we build human friendly robots for developer, educator and students

HWZ020 Robot ROS Education Robot

Codebtor for education

• Educational robots based on ROS.
• Ideal for educators and students.
• Affordable, compact and functional.

Product Family

Hardware Components

Chassis

• Robotic chassis ready for ROS development.
• Ready to plug slots for ROS controller, LiDAR and Camera.
• Remote controlled by mobile app.
• Driving systems:
• Ackerman wheels
• Meconium wheels
• Omni-directional wheels
• Track-based

SLAMTEC RPLIDAR Al Series
Equipped with new genuine Lidar

Based on our excellent and concise mechanical design, the lidar can be 360° unobstructed Make the robot have a better effect when following and navigating

The camera angle can be adjusted greatly

Whether it is patrolling, following, visual slam, etc., it can be adjusted to a suitable angle, and the camera is placed on the front of the car without obstruction

Hall encoder

The encoder has a pull-up output, which is pulled up to the power supply VCC pin by default, which can be directly collected by the single-chip microcomputer

Listing show

1. Black rubber wheels
2. ORBBEC Astra Series Depth Camera
3. PS2 wireless controller
4. RPLIDARA1
5. Steering gear + multi-function support
6. Remote control receiver
7. Turn to the horn floor
8. Radar adapter board
9. 12V30F MG513 motor
10. Ball head pull rod is long/short
11. 37 Motor bracket
12. Certain wire rods
13. The pillars
14. Steering plate + hex coupling + Angle press plate
15. Screw and nut package
16. STM32F407VET6 integrated master control board
17. Strap bag
18. Raspberry pie
19. 32G memory card card reader
20. Assemble the kit
21. Cross screwdriver
22. Aluminum alloy top plate
23. Aluminum alloy base plate
24. Omnidirectional wheel set module

Hardware inventory

ORBBEC Astra series depth camera parameter table

Hardware Specs

ROS Controller Specs

Product Family Specs

BATTERY DESCRIPTION

Due to overseas shipment issues, no batteries are prepared Please prepare 11.1V lithium battery by yourself

INTERFACE DESCRIPTION

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

Software & Tutorials

Key function introduction

RTABMAP VISION AND LIDAR MAPPING NAVIGATION
Support visual SLAM, gapping, hector, carto, Google Cartographer and other algorithms to build maps, 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 PATROL
The camera can be navigated by sticking lines, and the general electrical glue can be used. The color of the line patrol is blue, black, red, green, yellow, etc. adjustable

SUPPORT APP CONTROL, VIEW IMAGES, MAP CREATION, NAVIGATION
Realize car mapping and 2D navigation functions through Android ROSAPP

RRT AUTONOMOUS EXPLORATION AND MAPPING
No need to manually control the car, use the RRT algorithm to autonomously complete the exploration map, save the map, and return to the starting point
MULTI-AIRCRAFT FORMATION
Multi-machine coordinated operation, distributed formation control, support single-point and multi-point navigation functions

Provide Bluetooth & WIFI version APP
Support Android and IOS

1. Support gravity sensor remote control and two-hand button remote control mode
2. Supports 5-channel waveform display interface, you can view the waveform at any time without a data line
3. Support 9-channel parameter adjustment interface and online adjustment of PID parameters
4. Optimize the battery alarm mechanism, APP accurately pushes low-voltage alarm notifications
5. Support for BLE Bluetooth 4.0 module

Information Description

In addition to information related to Raspberry and jets on Nano, we also present information such as Xavier NX, industrial computer, etc., so that you can continue to update the functions and information of this product from scientific research to application. The updated information will be provided to users free of charge for life

THE DATAIS COMPLETELY OPEN SOURCE, SUPPORTING SECONDARY DEVELOPMENT

Provide ROS source code package
The ROS source code can quickly help you connect the car to the ROS system, and provide technical support for STM32, ROS, Linux, and SLAM

Provide a rich ROS development manual

1.ROS development tutorial
The Preface

1. Fix Raspberry Pi peripheral serial port number
2. SLAM car ROS source code analysis
   1. File system preview
   2. Code composition
   3. Serial communication with the lower computer
   4. ROS topics and sensor data release
   5. Robot node analysis
   6. Parameter analysis of robot
   7.  Analysis of robot TF coordinate transformation
   8. Start the robot through the launch file
3. Laser radar mapping
   1. Start the mapping node
   2. Map preservation
4. Robot navigation
   1. Start the navigation node
   2. wiz navigation goal setting
   3. Multi-point navigation
   4. Navigation parameter setting
   5. Navigation status monitoring and custom goals
   6. Common navigation fault troubleshooting

2.Ubuntu configuration tutorial
The Preface

1. Install Ubuntu and ROS on the virtual machine
   1. Ubuntu Installation on the Virtual Machine and Utility Plug-in Installation
   2. ROS installation with Ubuntu
   3. Establish the ROS workspace
   4. Configure static IP address with Ubuntu on the Virtual Machine
2. Configure Ubuntu and ROS on Raspberry Pi
   1. Configure Ubuntu on Raspberry Pi
   2. Install ROS on Ubuntu of Raspberry Pi
3. Environmental configuration of Jetson Nano
   1. Configure Ubuntu in Jetson Nano
   2. Install ROS in Jetson Nano
4. Configure Ubuntu and ROS In Jetson TX2
   1. Flash the Jetson TX2
   2. Install ROS on Jetson TX2
5. Configure Ubuntu and ROS on the IPC
   1. Install Ubuntu on the IPC
   2. Install ROS in IPC
   3. Configure wireless WIFI and static IP with Ubuntu on IPC
6. Configure Ubuntu and ROS in Jetson Xavier NX
   1. Install Ubuntu in Jetson Xavier NX
   2. Install ROS in Jetson Xavier NX
7. Configure wireless WIFI and static IP with Ubuntu
   1. Configure wireless WIFI with Ubuntu
   2. Ubuntu configures static IP
8. The NFS mount
9. Execute the script at boot time
10. SSH remote login
11. ROS multi-machine communication setup
12. Raspberry Pi image backup and recovery
    1. Raspberry Pi image backup
    2. Raspberry Pi image recovery
13. Jetson Nano image backup and recovery
    1. Jetson Nano image backup
    2. Jetson Nano image recovery
14. Jetson TX2 Image backup and recovery
15. IPC Image backup and recovery
16.  Jetson Xavier NX image backup and recovery
17. The basics of Ubuntu

3.STM32 Moving Chassis Development Manual

The Preface

1. Robot control mode
   1. Robot movement speed unit
   2. ROS ( serial port 3) control
   3. APP control
   4. PS2 control
   5. Hot-RC remote control
   6. CAN control
   7. Serial port 1 control
2. OLED display content
   1. OLED specific content
   2. OLED universal display content
   3. car self-inspection
3. Elimination of gyroscope zero drift
4. Robot kinematics analysis
   1. Two-wheel differential ( tracked vehicle ) car
   2. Ackerman car
   3. Meconium wheel card
   4. Omni wheel car
   5. Four-wheel drive car
   6. Pl control program source code
5. Wiring instructions
6. Control flow chart
   1. Control flowchart of robot motor
   2. Robot STM32 program structure diagram
   3. Robot controller connection diagram
7. Matters needing attention
   1. About the code
   2. About the power interface on the adapter board
   3. About the motor
   4. About the battery
8. How to download program to STM32 controller
   1. Serial download
   2. SWD download

Standard paper format, easy to understand, covering ROS basics, STM32 low-level control, ROS development, UBUNTU tutorials, etc.

Provide code-level video tutorials, senior engineers will teach you how to learn ROS, and refuse to bea “tuner” ROS related video tutorials are equipped with bilingual subtitles in both Chinese and English. We make the video tutorials according to the standards and investment of making movies.

moveit robotic arm video tutorial
Streamline code routines, rviz visual interface, take you into the learning world of moveout robotic arm

ROS SLAM principle and algorithm detailed video tutorial
This series of video tutorials explain the principles of SLAM in an easy-to-understand manner through the form of playing games while explaining the principles.

ROS basic dry goods special video tutorial
This series of videos will take about 1 hour for a single part. Knock on the code to teach you to quickly enter ROS.

STM32 bottom source code and ROS communication video tutorial
From the underlying STM32 code analysis to the ROS basic communication framework to build code-level analysis

ROS-related ubuntu basic tutorial
Quickly grasp the ubuntu basics related to ROS, and improve the backup and burning process of raspberry pi/jets on Nano, etc.

ROS function development code-level video tutorial
Code analysis of core functions such as ROS mapping and navigation

ROS Voice Special Video Tutorial
Provide basic application tutorials and code analysis combining ROS voice and iFlytek

More video tutorials are under intense recording and will be launched soon, So stay tuned!

Shipping & Packaging

Shipping list

CHASSIS PART

ELECTRONIC CONTROL AND ROS PART
Electronic control part:
STM32F407VET6 integrated main control board Bluetooth module X1
OLED display X1
Data download line X1

ROS part:
Raspberry 4B X1
Lidar X1
32G high speed memory card and card reader X1
PS2 wireless controller X1
Dual fan heat sink X1
Several wires
Depth camera and its angle adjustment mechanism

PEARL COTTON PACKAGING

The following is the quality and volume of the packaged product:
Volume: 370*300*170mm
Weight: 3kg

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