ROSbot Autonomous Robot With LiDAR
ROSbot Autonomous Robot With LiDAR
ROSbot Autonomous Robot With LiDAR
by radeknh2
Digital camera
Laser scanner 360 RPLiDAR A2
Solid aluminum cover
Wi-Fi antenna
Orientation sensor (MPU-9250)
2x left & 2x right DC motors with quadrature encoder
Husarion CORE2-ROS (with ASUS Tinker Board inside)
It's pretty large project but even if you can't do everything, you can choose which features you want to implement.
The project has been created by Husarion team: https://husarion.com/
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 1
Step 1: Prepare (order?) the Aluminium Chassis
The chassis is laser-cutted from the 2mm thick aluminium plate. We designed it in CAD software and outsourced
to a laser-cutting workshop. They have also offered painting, so we've eventually made two versions. The attached
drawings are suitable to be the source files for laser-cutting company but don't forget about units - all dimensions
are in milimeters.
Download (https://cdn.instructables.com/ORIG/F2N/216Z/J5SFZJKN/F2N216ZJ5SFZJKN.pdf)
http://www.instructables.com/ORIG/F2N/216Z/J5SFZJKN/F2N216ZJ5SFZJKN.pdf
(https://cdn.instructables.com/ORIG/F2N/216Z/J5SFZJKN/F2N216ZJ5SFZJKN.pdf)
Download (https://cdn.instructables.com/ORIG/FN8/NNE4/J5SFZJKR/FN8NNE4J5SFZJKR.pdf)
http://www.instructables.com/ORIG/FN8/NNE4/J5SFZJKR/FN8NNE4J5SFZJKR.pdf
(https://cdn.instructables.com/ORIG/FN8/NNE4/J5SFZJKR/FN8NNE4J5SFZJKR.pdf)
Download (https://cdn.instructables.com/ORIG/F0B/5NJ4/J5SFZJLT/F0B5NJ4J5SFZJLT.pdf)
http://www.instructables.com/ORIG/F0B/5NJ4/J5SFZJLT/F0B5NJ4J5SFZJLT.pdf
(https://cdn.instructables.com/ORIG/F0B/5NJ4/J5SFZJLT/F0B5NJ4J5SFZJLT.pdf)
Download (https://cdn.instructables.com/ORIG/F1L/B1MP/J5SFZJLX/F1LB1MPJ5SFZJLX.pdf)
http://www.instructables.com/ORIG/F1L/B1MP/J5SFZJLX/F1LB1MPJ5SFZJLX.pdf
(https://cdn.instructables.com/ORIG/F1L/B1MP/J5SFZJLX/F1LB1MPJ5SFZJLX.pdf)
Download (https://cdn.instructables.com/ORIG/FWQ/LZW9/J5SFZJRU/FWQLZW9J5SFZJRU.pdf)
http://www.instructables.com/ORIG/FWQ/LZW9/J5SFZJRU/FWQLZW9J5SFZJRU.pdf
(https://cdn.instructables.com/ORIG/FWQ/LZW9/J5SFZJRU/FWQLZW9J5SFZJRU.pdf)
Download (https://cdn.instructables.com/ORIG/FWY/Z8TH/J5SFZJUO/FWYZ8THJ5SFZJUO.pdf)
http://www.instructables.com/ORIG/FWY/Z8TH/J5SFZJUO/FWYZ8THJ5SFZJUO.pdf
(https://cdn.instructables.com/ORIG/FWY/Z8TH/J5SFZJUO/FWYZ8THJ5SFZJUO.pdf)
Download (https://cdn.instructables.com/ORIG/FNB/J29E/J5SFZJVP/FNBJ29EJ5SFZJVP.pdf)
http://www.instructables.com/ORIG/FNB/J29E/J5SFZJVP/FNBJ29EJ5SFZJVP.pdf
(https://cdn.instructables.com/ORIG/FNB/J29E/J5SFZJVP/FNBJ29EJ5SFZJVP.pdf)
Download (https://cdn.instructables.com/ORIG/F64/1SGV/J5SFZJWQ/F641SGVJ5SFZJWQ.pdf)
http://www.instructables.com/ORIG/F64/1SGV/J5SFZJWQ/F641SGVJ5SFZJWQ.pdf
(https://cdn.instructables.com/ORIG/F64/1SGV/J5SFZJWQ/F641SGVJ5SFZJWQ.pdf)
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 2
Step 2: Assemble the Chassis With M3x6 Screws and Nuts
Step 3: Then Attach the Motors With Encoders and Screw Them Using M3x6 Screws
We used motors similar to these "34:1 Metal - stall current max. ~2A
Gearmotor 25Dx52L mm LP 6V" from Pololu:
https://www.pololu.com/product/1584 but the general - the same dimensions (diameter, length and
requirements are: mounting holes) as Pololu 25Dx52L motors
- RPM between 80...200 @6V Caution: longer screws can damage or block the
motors
- voltage from 6V to 12V
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 3
Step 4: Assemble the Two Other Motors to the Right Plate
Step 5: Attach the Right Plate to the Bottom Cover With M3x6 Screws
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 4
Step 6: Attach the Battery Pack for 3x 18650 Li-Ion Batteries and Insert the Batteries
Step 7: Screw the Standoffs for Sensors and Install the Sensors
The more external standoff is 8mm long and the one that is closer to the center is 10mm long, because there is
only one layer of metal.
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 5
Step 8: Screw the Standoffs and Install Husarion CORE2-ROS Controller
Use four female-female, threaded standoffs, M3x50 size (metric 3mm thread, 50mm long). Use M3x6 screws to
assemble with bottom cover and to install the Husarion CORE2-ROS controller.
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 6
Step 9: Install a Camera and LiDAR
We used the USB camera that we've had in the drawer :) and the RPLIDAR A2 360 degrees Laser Scanner.
Screw them using M3x6 screws and nuts (for the camera only).
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 7
Step 10: Attach the Wheels Using Hex Couplers
We used the "wheels for robot toys" with brass couplers that are compatible with 4mm diameter, D-shaped motor
shafts. The wheels have the 85mm diameter.
You need some cables: 1x generic USB extension cord for a Wi-Fi card (it
needs to be installed outside the metal box)
4x cable that connects Sharp sensor with CORE2-
ROS (see the next step) The motors, LiDAR and camera have their own
cables.
1x cable that connects MPU-9250 sensor with
CORE2-ROS (see two steps further) The connections diagram is shown on the attached
photo.
1x cable for battery pack <-> CORE2 connection
(with switch) - it's simple :)
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 8
Step 12: Prepare the Cables for Sharp Sensors
See the photos and make 4 cables. Pinout is also included on the photo.
Pinout is attached and cable similar to the previous one. This time you don't need the IDC connector.
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 9
Step 15: Using the ROSbot
The ROSbot can be used in two ways: - as a platform for learning ROS - in that case please
look at this: https://husarion.com/core2/tutorials/ros-
- as a remote controlled platform, programmed from tutorials..
cloud, without using ROS (Robot Operating System)
and in that case please follow the guide from here:
https://husarion.com/core2/tutorials/howtostart/ru...
This is a short demo how the ROSbot can be used at the workshop or for personal purposes:
Have fun!
https://player.vimeo.com/video/224989128
ROSbot - Autonomous Robot With LiDAR and Husarion CORE2 Controller: Page 10