Roboworks Rosbot User Manual

ROSBOT OVERVIEW

Introduction

Rosbot is designed for ROS (Robot Operating System) developers, educators, and students. The heart of Rosbot is its fully programmable software framework and configurable hardware architecture, based on the most popular robotic platform - ROS.

Rosbot Categories

• Rosbot Mini - Suitable for ROS beginners and low-budget projects.
• Rosbot Pro - Suitable for ROS developers and educators who need a versatile system for rapid prototyping or teaching.
• Rosbot Plus - This is the 4WD version of Rosbot with Independent Suspension Systems. This category is serious enough to be considered for industrial and commercial development.

Supported ROS Controllers

Rosbot comes with popular ROS controllers such as:

• Jetson Nano
• Jetson TX
• Xavier
• X86 Industrial PC (Built-to-Order Option)

Variations

Visual representations of the different Rosbot models are available:

Rosbot Mini: [Image of Rosbot Mini] A compact robotic platform.

Rosbot Pro: [Image of Rosbot Pro] A versatile robotic platform for development.

Rosbot Plus: [Image of Rosbot Plus] A robust 4WD robotic platform with advanced suspension.

Product Specifications

Product Matrix

Component Specifications

Introduction of ROS Controllers

There are 3 types of ROS Controllers available for use with the Rosbot based on Nvidia Jetson platform. Jetson nano is suited more towards research and development. Jetson TX is ideal for product prototyping. Jetson Xavier is used more often in research and commercial applications. X86 Industrial PC is designed for robust commercial applications and it is only available for Built-to-Order configurations.

Both boards allow high level computation and are suited towards advanced robotic applications such as computer vision, deep learning and motion planning.

The following table the main technical differences between the various controllers available from Roboworks. [Table of technical differences not provided in source text].

Sensing System: LiDAR & Depth Camera

LiDAR

A Leishen LSLiDAR is installed on all Rosbot variations, with either the N10 or M10 model being used. These LiDARs offer a 360-degree scanning range and surroundings perception, boasting a compact and light design. They have a high Signal Noise Ratio (SNR) and excellent detection performance on high/low reflectivity objects, performing well in strong light conditions. They have a detection range of 30 metres and a scan frequency of 12Hz. This LiDAR integrates seamlessly into the Rosbots, ensuring all mapping and navigational uses can be easily achieved in your project.

The below table summarizes the technical specifications of the LSLiDARs. [LiDAR technical specifications table not provided in source text].

Depth Camera

Additionally, all Rosbots are equipped with an Orbbec Astra Depth Camera, which is an RGBD camera. This camera is optimized for a range of uses including gesture control, skeleton tracking, 3D scanning, and point cloud development.

The following table summarizes the technical features of the depth camera. [Depth camera technical features table not provided in source text].

STM32 Board (Motor Control, Power Management & IMU)

The STM32F103RC Board is the micro-controller used in all Rosbots. It has a high-performance ARM Cortex M3 32-bit RISC core operating at a 72MHz frequency, along with high-speed embedded memories. It operates in a -40°C to +105°C temperature range, suiting all robotic applications in worldwide climates. There are power-saving modes which allow the design of low-power applications. Some of the applications of this microcontroller include: motor drives, application control, robotic applications, medical and handheld equipment, PC and gaming peripherals, GPS platforms, industrial applications, alarm systems, video intercoms, and scanners.

Below is a description of the circuit diagram and the board's features:

Circuit Diagram: A diagram illustrating the STM32F103RC board's architecture, detailing its core components and connections. [Circuit diagram not provided in source text].

STM32F103RC Features

• Core: ARM 32-bit Cortex™-M3 CPU, Max speed of 72 MHz
• Memories: 512 KB of Flash memory, 64 kB of SRAM
• Clock, Reset and Supply Management: 2.0 to 3.6 V application supply and I/Os; Power-saving modes (Sleep, Stop, and Standby modes); V supply for RTC and backup registers; BAT
• DMA: 12-channel DMA controller
• Debug: SWD and JTAG interfaces; Cortex-M3 Embedded Trace Macrocell
• I/O ports: 51 I/O ports (mappable on 16 external interrupt vectors and 5V tolerant)
• Timers: 4x16-bit timers; 2 x 16-bit motor control PWM timers (with emergency stop); 2 x watchdog timers (independent and Window); SysTick timer (24-bit downcounter); 2 x 16-bit basic timers to drive the DAC
• Communication Interface: USB 2.0 full-speed interface; SDIO interface; CAN interface (2.0B Active)

Steering & Driving System

The Steering and Driving system is integrated with the design and build of the Rosbot. Depending on the model purchased, it will be either a 2-wheel or 4-wheel drive, with both options being suitable for a variety of research and development purposes. The wheels on all Rosbots are solid rubber with snow protection grade tires. There is a coaxial pendulum suspension system, and the top-range Rosbots are equipped with shock absorbers with independent suspension systems, ensuring they are able to successfully navigate difficult terrain.

Steering and Driving Technical Specifications: [Technical specifications table not provided in source text].

Rosbot Chassis Design Diagram: A diagram illustrating the structural layout and components of the Rosbot chassis. [Chassis design diagram not provided in source text].

Power Management

All Rosbots come with a 5000 mAh battery and a Power Charger. Customers can upgrade the battery to 10000 mAh or 20000 mAh with additional cost. The 20000 mAh battery is too large to house within the enclosure of any Rosbots; it can only be installed on the top of the robot chassis.

Battery Technical Specifications: [Battery technical specifications table not provided in source text].