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ROSbot manual

OverviewROSbot is an autonomous robot platform based on Husarion CORE2-ROS robot controller availablein two version: 2.0 and 2.0 PRO.

ROSbot is an affordable robot platform for rapid development of autonomous robots. It can be abase for custom service robots, inspection robots and robots working in swarms. Both versionintegrates:

4-wheels mobile platform containing DC motors with encoders and an aluminum frameOrbbec Astra RGBD camera

ROSbot 2.0 - Autonomous robot development kitROSbot 2.0 - Autonomous robot development kit

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MPU 9250 inertial sensor (accelerometer + gyro)rear panel providing interfaces for additional modules

In ROSbot 2.0:

CORE2-ROS controller with Asus Tinker Board with Rockchip RK3288 up to 1,8GHz, 2GB DDR3RAM and 16 GB MicroSD.RPLIDAR A2 laser scanner

In ROSbot 2.0 PRO:

CORE2-ROS controller with UpBoard UP with Intel® ATOM™ x5-Z8350 Processors 64 bits up to1.92GHz, 4GB DDR3L RAM and 32GB eMMC.RPLIDAR A3 laser scanner

You can use your ROSbot offline however we recommend connecting to Husarion Cloud as it givesyou 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.

You can also test the performance of ROSbot using our simulation model in Gazebo environment. Itis available here, at our GitHub page.

Front Back Perspective

Front Back Perspective

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You can find free ROS tutorials dedicated for ROSbot under this link. They will guide you throughdifferent aspects of programming autonomous vehicles in ROS

Hardware guide

Specification

Attribute Description

Dimensions with camera andLiDAR

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 cameraand LiDAR

200 x 235 x 106mm / 7.87 x 9.25 x 4.17in [L x W x H]

Weight2,84kg / 100oz (with camera and LiDAR), 2,45kg / 86oz(without camera and LiDAR)

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Wheel diameter / Clearance /Wheelbase

85mm / 22mm / 105mm

Chassis material Powder-coated aluminum plate, 1.5mm thick

Maximum translationalvelocity

1.25 m/s

Maximum rotational velocity 420 deg/s (7.33 rad/s)

Maximum load capacity 10kg / 352oz

Battery life 1.5h - 5h

Components

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Components description

Component Quantity Description

Infrareddistancesensor

4VL53L0X 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, 5000rpmNo load speed at the output shaft: 165 rpm Stall torque: 2.9 kg*cmStall current: 2.2A Gear ratio: ~34 (exact ratio is 30613/900) Encoder:magnetic, 48ppr, 12 poles

IMU sensor 1Powerful 9-Axis Accel/Gyro/Magnetometer sensor with MPU-9250,more details.

RGBD 1 Orbbec Astra with RGB image size 640x480 and depth image size

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camera 640x480.

Batteries 3Li-Ion 18650 protected, rechargeable batteries, 3500mAh capacity,3.7V nominal voltage Note: Device may be shipped interchangeably with similar batteries.

Antenna 1Connected directly to the ASUS Tinker Board Wi-Fi module. Uses anRP-SMA(m) <-> I-PEX MHF4 cable to connect the antenna with SBC.

In ROSbot 2.0:

Component Quantity Description

CORE2-ROS 1Advanced 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.

LIDAR 1 RpLidar A2, 360 degree and up to 8m range, more details.

In ROSbot 2.0 PRO:

Component Quantity Description

CORE2-ROS 1Advanced version of CORE2 with an Up Board computer. CORE2real-time controller is based on STM32F407 microcontroller. TheSBC runs on Ubuntu-based OS, customized to use ROS.

LIDAR 1 RpLidar A3, 360 degree and up to 25m range, more details.

Rear panel description

.

Component Quantity Description

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Antennaconnector

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.

Powerswitch

1 Turns ROSbot completely ON or OFF.

LEDs 6LR1(yellow), LR2(blue), L1(red), L2(green), L3(green), PWR(red), moredetails here.

resetbutton

1 Button used for reset CORE2.

hCfg button 1Button used for connecting ROSbot to [Husarion Cloud](https://cloud.husarion.com/).

hBtn 2 hBtn1, hBtn2 - programmable buttons.

Outputs forservo

6 Servo output with PWM, more details here.

USB serial 1USB serial port used for debugging the firmware on CORE2-ROScontroller.

Chargingconnector

1 6-pin connector for charging internal Li-Ion batteries.

DC powerinput

1DC for working with external 12V power supply. Use the powersupply included with charger or any 12V, min. 5A power supply with5.5/2.5mm plug (center-positive).

Time-of-Flightdistancesensor

2VL53L0X Time-of-Flight distance sensor with up to 200 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.

Power supply

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ROSbot is powered from an internal, rechargeable Li-Ion battery pack that contains 3 Li-Ion cells,connected in series. This type of connection is called “3S”. The schematic below explains how thecells 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 thevoltage on each cell. It is strongly recommended to keep equal voltages on each cell during thecharging process. The charger included with ROSbot can charge batteries in the described way and,thanks to that, the long life of the battery set is possible.

The nominal voltage of each cell is 3.7V but the useful range is 3.2V to 4.2V.

Important - discharge indicator If only the right firmware is preloaded to the internal controller(CORE2), the LED1 is programmed to indicate the power status:

the LED1 is on when the robot is turned onthe LED1 is blinking when battery is low – please charge immediately!

Please make sure that the user firmware always contains the function that monitors the supplyvoltage level. Deep discharging of batteries may decrease their lifecycle. Discharging to the voltagelower than 3.0V/cell can also trigger the over discharge protection. If the voltage is too low, turnROSbot off and charge batteries as soon as possible.

Charging ROSbot

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The ROSbot kit contains the Redox Beta charger. It is an universal charger, suitable for chargingNiCd, NiMH, Li-Po, Li-Fe, Li-Ion and Pb (AGM, VRLA) batteries. ROSbot shall be charged using anincluded charger and cable.

Charger kit includes:

Redox Beta chargerAC/DC power adapter 100...240V to 12V 5A with 5.5/2.5mm plug on the 12V sidea cable to connect charger with ROSbot charging port

Quick charging guide:

1. Connect the power adapter to the charger and the output cable between charger and ROSbot(2 connectors on charger side, 1 black connector to ROSbot charging port).

2. Use red and blue buttons to select “LiPo BATT” mode and press [Start].3. Use arrows to select “LiPo CHARGE” mode.4. Press [Start] - the current value should start blinking. Use arrows to set the current to 1.5A.5. Press [Start] again - the voltage value should start blinking. Select “11.1V(3S)” using arrows. The

picture below shows the desired result.6. Press and hold [Start] for 2 seconds. The charger should now ask for confirmation. Press [Start]

again. The charging process should begin now.7. When the charging will be finished (after about 3 hours), the charger will generate a loud “beep”

sound and will finish charging at the same time.

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If you need more information about charging, please read the Charging manual for ROSbot in PDFformat.

Notes

You can change charging current to maximum 3A. Please note that a regular charging with themaximum current can shorten the battery life.If you are going to use ROSbot stationary for a long time, you can use ROSbot with chargerconnected (and charging) all the time. It will increase the batteries lifetime. Align the chargingcurrent to keep the voltage at about 11.1V-12V.In case you need to replace batteries, use only 18650 Li-Ion batteries, with the capacity in arange of 1800...3500mAh and with a protection circuit! Using unprotected batteries may resultin serious injuries or fire.Unplug charging connectors carefully. You shall not unplug the charger connectors holding thewires. The balancer connection on ROSbot side has a latching tab (see photo below) that mustbe pressed before unplugging. On the charger side there is no latching tab but you should alsounplug this connector holding the white plug.

SoftwareSoftware for ROSbot can be divided into 2 parts:

A firmware that works on the real-time controller (CORE2) and can be developed and uploadedfrom Husarion Cloud with WebIDE. It can also be developed offline using Visual Studio CodeIDE.

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OS based on Ubuntu 16.04, which runs on the SBC (ASUS Tinker Board) and contains allcomponents needed to start working with ROS immediately. The microSD card with OS isincluded with each ROSbot. The OS has been modified to make the file system insensitive tosudden power cuts.

System reinstallation

In some cases you will need to restore ROSbot system to its default settings:

in case of accidential damage of the system,to update the OS (it can be udpated remotely, but flashing the microSD card can be easiersometimes),to clear all user changes and restore factory settings.

This process will differ depending on ROSbot version that you have.

ROSbot 2.0

1. Extract SD card from ROSbot, by pushing card carefully until it is released back by card holder,thel pull it out. You can find SD card slot on ROSbot right side.

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2. Download image for Raspberry Pi/Tinkerboard from here (there is a single image for bothplatforms).

3. Extract downloaded image (For this process we recommend using 7zip)4. Flash the extracted image onto SD card (For this process we recommend using Etcher but any

image writing tool will be good):

If you want to replace the included card, remember that you need to use at least 16 GB capacityand 10 speed class micro SD card.Download Etcher and install it.Connect an SD card reader with the SD card inside.Open Etcher and select from your hard drive .img file that you extracted.Select the SD card you wish to write your image to.Review your selections and click 'Flash!' to begin writing data to the SD card.

5. Insert SD card back to ROSbot6. Proceed to Connecting to Husarion cloud section.

ROSbot 2.0 PRO

Before you begin, you will need:

USB drive (at least 8GB)Mouse, keyboard and USB hubDisplay with HDMI cable

1. Download Ubuntu 16.04 installation image from official Ubuntu Releases.2. Flash Ubuntu on USB drive (For this process we recommend using Etcher but any image writing

tool will be good):

Download Etcher and install it.Plug in USB drive into your computer.Open Etcher and select from your hard drive .iso file that you downloaded.Select the USB drive you wish to write your image to.Review your selections and click 'Flash!' to begin writing data to the USB drive.

3. Plug keyboard and mouse through USB hub to one of the USB-A ports on ROSbot rear panel.4. Connect monitor to HDMI port on ROSbot rear panel.5. Plug in USB drive into second USB-A port on ROSbot rear panel.6. Press "Esc" during booting.7. You will see blue window with "Enter Password", press "Enter".

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8. Click "Right arrow" to enter Boot card and change Boot Option Priorities for your USB drive.9. Save & Exit.

10. After Restart chose option Install Ubuntu (remember to choose option with erasing new Ubuntuand remove all part of the old one).

11. After installation go to files.husarion.com and download upboard.sh file.12. Change file permissions: sudo chmod 777 upboard.sh13. Run file: sudo ./upboard.sh (remember to chose option "NO" when you will see a dialog

window with question about abandon kernel removal).14. After finish, reboot device.15. Proceed to Connecting to Husarion cloud section.

Connecting to Husarion CloudThere are three ways to connect ROSbot to Husarion cloud: ethernet connection, mouse + keyboardor mobile app. Choose the most comfortable for you.

Option 1: using display, mouse and keyboard (works for ROSbot 2.0 and forROSbot 2.0 PRO)

ROSbot is basically a computer running Ubuntu, so let's configure it like a standard PC computer.

1. Plug in a display with HDMI, mouse and keyboard into USB port in the rear panel of ROSbot.2. Turn on the robot and wait until it boots.3. Connect to a Wi-Fi network4. Connect to a Husarion cloud

open https://cloud.husarion.com in your web browserclick Add new buttonenter device name and click Nextcopy a code under a QR code (it looks like: prod|xxxxxxxxxxxxxxxxxxxxxx )open Linux terminal execude a command (including code from the previous step) sudohusarion-register --code "prod|xxxxxxxxxxxxxxxxxxxxxx" , and then sudo systemctl restarthusarnet-configurator

after a few seconds you should see your device online at https://cloud.husarion.com

Option 2: using Ethernet adapter (works for ROSbot 2.0 and for ROSbot 2.0PRO)

In the ROSbot 2.0 set there is a USB-Ethernet card. Use it for the first setup.

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1. Turn on the robot and wait until it boots.2. Plug in Ethernet adapter (included in set) to USB port in the rear panel3. Plug in one end of the Ethernet cable into your computer and other one to the adapter4. Connect with ROSbot via ssh, type in your terminal application: ssh husarion@192.168.0.1 and

passowrd husarion5. Connect to a Wi-Fi network

in the terminal type nmcli c add type wifi save yes autoconnect yes con-name rosbot20wifiifname wlan0 ssid <NetworkSSID> and press Entertype nmcli c modify rosbot20wifi wifi-sec.key-mgmt wpa-psk wifi-sec.psk <Password> andpress Enter to obtain an IP address and connect to the WiFi network

6. Connect to a Husarion cloud

open https://cloud.husarion.com in your web browserclick Add new buttonenter device name and click Nextcopy a code under a QR code (it looks like: prod|xxxxxxxxxxxxxxxxxxxxxx )open Linux terminal execude a command (including code from the previous step) sudohusarion-register --code "prod|xxxxxxxxxxxxxxxxxxxxxx" , and then sudo systemctl restarthusarnet-configurator

after a few seconds you should see your device online at https://cloud.husarion.com

Option 3: using hConfig app (only for ROSbot 2.0)

That's a deprecated option, so previously mentioned instructions are prefferred.

Press and hold the hCfg button on ROSbots rear panel.Turn on the power switch.When blue and yellow LEDs starts blinking, release the hCfg button.Connect your mobile device to Husarion Wi-Fi and open hConfig app (hConfig in AppStore orhConfig in Google Play) to connect ROSbot to the Wi-Fi network and your user account atcloud.husarion.com (how to do this).

ROS tutorialsROS (Robot Operating System) provides libraries and tools to help software developers create robotapplications. 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.

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We created the set of ROS tutorials dedicated for this platform to make it easier to familiarizeyourself with these frameworks.

Configuring ROSbot to work with 5GHz WiFi.By default ROSbot supports WiFi in 2.4GHz band, this is sufficent for most cases. If you encounterproblems with data transfers e.g. due to processing large amounts of data or noise from othernetworks you can try to use connection in 5GHz band.

Device installation

To do this, you will need a USB 5GHz WiFi card (any device based on RTL8811AU or RTL8812AUshould be fine,we have tested it with TP-Link Archer T4U and D-Link DWA-172).

ROSbot 2.0 is supporting the adapters by default, if you have recent image version you can skipupdate and kernel instal, otherwise do:

For ROSbot 2.0 PRO some modifications are required:

WiFi setup

For Remote Desktop or keyboard and display, you can use desktop GUI tools to setup connection.

For SSH method type ifconfig to list network interfaces, you should see now new interface namedwlan1 .

sudo apt-get update sudo apt-get install tinkerboard-kernel modprobe rtl8812au

sudo apt install linux-headers-generic-hwe-16.04-upboard git clone https://github.com/abperiasamy/rtl8812AU_8821AU_linux.git cd rtl8812AU_8821AU_linux/ make sudo make install sudo modprobe -a rtl8812au sudo cp -R . /usr/src/rtl8812AU_8821AU_linux-1.0 sudo dkms add -m rtl8812AU_8821AU_linux -v 1.0 sudo dkms build -m rtl8812AU_8821AU_linux -v 1.0 sudo dkms install -m rtl8812AU_8821AU_linux -v 1.0

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Now, list all available newtworks:

Connect to selected WiFi with:

Remember to replace <NetworkSSID> and <Password> with name and passowrd of chosen network.

ROSbot will try to connect to this network each time it boots.

Docs and linksAll helpful documents and links in one place:

ROSbot Safety Instructions - important!Charging manual for ROSbotROS tutorials for ROSbotROSbot on ROS webpageROSbot on ROS WikiURDF model of ROSbot - for Gazebo integrated with ROSROSbot project on hackaday.ioROSbot project on instructables.com

sudo iwlist wlan1 scanning | grep ESSID

nmcli c add type wifi save yes autoconnect yes con-name <NetworkSSID> ifname wlan1 ssid <Netnmcli c modify <NetworkSSID> wifi-sec.key-mgmt wpa-psk wifi-sec.psk <Password>

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