Yahboom Raspberry Pi5 MicroROS Robot Car Instruction Manual (16GB)

1. Introduction

The Yahboom Raspberry Pi5 MicroROS Robot Car is an advanced educational robotics kit designed for AI vision, ROS2 development, and navigation. Powered by the Raspberry Pi 5, it features an ESP32 coprocessor, 6-axis IMU, 310 geared motors, and a 2-DOF 2MP camera. The robot utilizes a TOF lidar for 360° mapping and navigation, supporting both indoor and outdoor environments. Capabilities include AI vision for face, QR code, and posture recognition, object tracking, line following autonomous driving, and gesture control. The kit is compatible with ROS 2 Humble, offering extensive tutorials and open-source code for learning STEM skills, coding, and programming.

2. What's in the Box

The following components are included in your Yahboom Raspberry Pi5 MicroROS Robot Car kit:

Image: All components included in the kit.

• Robot Car Body (Pre-assembled)
• Metal Chassis (Pre-assembled)
• Metal Encoder Geared Motor (Pre-assembled)
• Tires (Pre-assembled)
• RPi 5 (Optional, depending on kit version)
• MS200 Lidar (Pre-assembled)
• Camera PTZ (Random 2 colors)
• MicroROS Control Board
• Manual
• Cool Cooler Pi50 (Fan/Heatsink for RPi5)
• Wireless Controller + AAA Batteries
• TF Card (64GB)
• Card Reader
• Connection Cable
• EVA Anti-collision Cotton
• Anti-collision Cotton Extension Board
• Metal Top Cover
• Metal Front Cover
• Accessory Kit
• Antenna
• Charger
• 7.4V Power Supply
• Battery Compartment Protection Plate (Acrylic)
• Screwdriver

3. Setup

Your Yahboom Raspberry Pi5 MicroROS Robot Car comes with most components pre-assembled for ease of setup. Follow these general steps for initial preparation:

1. Unboxing: Carefully remove all components from the packaging. Verify that all items listed in the 'What's in the Box' section are present.
2. Raspberry Pi 5 Installation (if applicable): If your kit did not come with the Raspberry Pi 5 pre-installed, gently insert it into the designated slot on the MicroROS Control Board. Ensure proper alignment of pins.
3. Power Connection: Connect the 7.4V power supply to the robot car. The system supports Raspberry Pi 5 PD power protocol, providing stable power.
4. TF Card Insertion: Insert the provided 64GB TF card, pre-loaded with the necessary software, into the Raspberry Pi 5.
5. Initial Power-On: Power on the robot car. The system will boot into the ROS2 environment.
6. Documentation: For detailed assembly instructions and software setup, please refer to the official Yahboom website for the comprehensive Japanese, Chinese, or English documentation.

4. Operating Instructions

The Yahboom Raspberry Pi5 MicroROS Robot Car offers a variety of operating modes and functionalities. Below are key features and how to interact with them:

4.1. Dual Controller Architecture

Image: Diagram illustrating the dual controller architecture with Raspberry Pi 5 and ESP32 coprocessor.

The robot features a dual-controller architecture for efficient collaborative work. The Raspberry Pi 5 acts as the upper-level controller for complex tasks like visual processing, deep neural networks, and advanced AI algorithms. The onboard ESP32 coprocessor handles lower-level device control, including motor PID control, servo control, IMU data acquisition, and LIDAR/camera drive, ensuring smooth and responsive operation.

4.2. AI Vision Capabilities

Image: Examples of AI vision applications such as QR code recognition, AR vision, and MediaPipe for posture and face detection.

Utilizing its 2-DOF 2MP high-definition camera gimbal and the Raspberry Pi 5's processing power, the robot can perform various AI vision tasks:

• QR Code Recognition: Create and recognize QR codes for navigation or command execution.
• AR Vision: Supports 12 different AR visual effects with the help of a chessboard.
• MediaPipe Posture Detection: Detects 33 key points of the human body for posture recognition.
• MediaPipe Face Recognition: Identifies 68 facial landmarks for detailed face recognition.
• Object Tracking: The robot can identify and follow specific objects.
• Line Following: Automatically follows designated lines on the ground.
• Gesture Recognition Control: Control the robot's movement and actions using hand gestures.

4.3. Lidar Navigation

Image: Various functional gameplay scenarios including Lidar mapping, AI visual object tracking, mobile APP navigation, and gesture control.

The integrated MS200 TOF lidar enables advanced navigation features:

• Lidar Mapping (SLAM): Supports gmapping and cartographer algorithms for creating maps of its environment.
• Multi-point Navigation: Plan and execute routes to multiple target points within a mapped area.
• Obstacle Avoidance: Detects obstacles using lidar and autonomously navigates around them.
• Lidar Tracking: The robot can track objects or follow a user based on lidar data.

4.4. Control Methods

The robot can be controlled through various interfaces:

• Mobile APP Control: Use a dedicated mobile application (iOS/Android) for mapping, navigation, and real-time video feed.
• Keyboard Control: Control the robot's movements and camera via a connected keyboard.
• Wireless Controller: Utilize the provided wireless controller for intuitive manual operation.
• Gesture Control: As mentioned in AI Vision, specific hand gestures can command the robot.

5. ROS2 System and Development

Image: Explanation of ROS2 Humble Hawksbill, the operating system used by the robot.

The Yahboom MicroROS Robot Car is built upon the ROS2 Humble version, a robust and widely used robot operating system. This provides a stable and feature-rich environment for robotics development and learning.

5.1. Learning Content

Image: Overview of learning modules including Mediapip visual recognition, Robot visual interaction, ROS+OpenCV Course, Robot Control, and Lidar functions.

The kit includes comprehensive electronic course content, covering practical and theoretical aspects. You can learn about:

• Mediapip Visual Recognition: Hand detection, posture detection, face effects, 3D object recognition, finger control, gesture recognition.
• Robot Visual Interaction: Monocular camera calibration, color tracking, object recognition and tracking, face recognition tracking, autonomous driving line patrol, QR code motion control, gesture control of basic movement, palm control of the two-dimensional gimbal servo.
• ROS+OpenCV Course: Getting started with OpenCV CV, geometric transformation, image processing and drawing, QR code creation and recognition, ROS+OpenCV application.
• Robot Control: Robot information release, keyboard control, handle control, state estimation, linear speed calibration, angular velocity calibration, robot URDF model.
• Lidar Functions: Lidar avoid, lidar following, lidar guard, lidar patrol, gmapping mapping, cartographer mapping, Navigation2 navigation, ROS Robot APP mapping.

Image: Examples of practical training courses and ROS2 basic video tutorials.

6. Specifications

Image: Technical specifications and dimensions of the Yahboom MicroROS-Pi5 Robot Car.

6.1. MicroROS Control Board

Image: Detailed diagram of the MicroROS Control Board, highlighting the ESP32S3 core module and various interfaces.

The MicroROS Control Board integrates an ESP32S3 core module, providing comprehensive control over motors, servos, and other peripherals. It supports 6-axis IMU attitude sensing, WiFi, Bluetooth, and serial communication. The board is designed to efficiently manage sensor data and power the Raspberry Pi 5, allowing direct access to the ROS2 environment for seamless operation.

7. Maintenance

To ensure the longevity and optimal performance of your Yahboom Raspberry Pi5 MicroROS Robot Car, follow these maintenance guidelines:

• Cleaning: Regularly clean the robot's chassis and components with a soft, dry cloth. Avoid using harsh chemicals or abrasive materials.
• Battery Care: Charge the 7.4V lithium battery using the provided charger. Do not overcharge or completely drain the battery. Store the battery in a cool, dry place when not in use.
• Component Inspection: Periodically check all connections, motors, and sensors for any signs of wear or damage. Ensure screws are tightened appropriately.
• Software Updates: Keep the ROS2 system and any related software up-to-date by checking the official Yahboom website for the latest releases and instructions.

8. Troubleshooting

If you encounter any issues with your robot car, consider the following troubleshooting steps:

• Power Issues: If the robot does not power on, ensure the battery is fully charged and correctly connected. Check the power interface for any loose connections.
• Connectivity Problems: If the robot cannot connect via Wi-Fi or Bluetooth, verify that the antenna is securely attached and that the devices are within range. Restarting the Raspberry Pi 5 and the control device may resolve temporary issues.
• Motor Malfunction: If motors are not responding, check their connections to the MicroROS Control Board. Ensure no physical obstructions are preventing movement.
• Sensor Errors: For issues with lidar or camera, ensure they are properly mounted and their cables are connected. Refer to the online documentation for sensor-specific calibration or diagnostic tools.
• Software Glitches: If the robot behaves unexpectedly, try restarting the ROS2 environment or reinstalling the software from the provided TF card or official website.

For more detailed troubleshooting guides and technical support, please visit the official Yahboom support resources.

9. Warranty and Support

Yahboom products are designed for quality and performance. For information regarding warranty coverage, technical support, and customer service, please refer to the official Yahboom website or contact their customer support team directly. Keep your purchase receipt as proof of purchase for any warranty claims.