N10 Programable Mobile Robots
ROBOWORKS
Rosbot User Manual
Prepared by: Wayne Liu, Zijie Li, Reilly Smithers & Tara Hercz 30 October 2024 Version #: 20241030
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ROBOWORKS
TABLE OF CONTENTS
1. Key Components 2. Product Specifications 3. Introduction to ROS Controllers 4. Sensing System: LiDAR & Depth Camera 5. STM32 Board (Motor Control, Power Management & IMU) 6. Steering & Driving System 7. Power Management 8. Tele-operation 9. ROS 2 Quick Start 10. Pre-installed ROS 2 Humble Packages
Summary Rosbot is designed for ROS (Robot Operating System) developer, educator and students. The heart of Rosbot is the fully programmable software framework and configurable hardware architecture based on the most popular robotic platform – ROS. Rosbot comes with four models: Rosbot 2 – 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. Rosbot Plus HD – This is Heavy Duty version of the Rosbot Plus which maximum payload is up to 45 kg. Rosbot comes with popular ROS controllers such as: · Jetson Orin Nano · Jetson Orin NX
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1. Key Component
Varia%on Rosbot 2
Image
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Rosbot Pro Rosbot Plus
2. Product Specifications Product Matrix
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Product Name Motor Reduction Ratio Max Speed Weight Max Payload Size Minimal Turning Radius Battery Life
Power Supply
Rosbot 2 1:27
Rosbot Pro 1:18
Rosbot Plus 1:18
Rosbot Plus HD 1:47
1.3m/s 9.26 kg 16 kg 445*360*206mm 0.77m
1.65m/s
2.33m/s
0.89m/s
19.54kg
35.16kg
35.18kg
20kg
22kg
45kg
774*570*227mm 766*671*319mm 766*671*319mm
1.02m
1.29m
1.29m
About 9.5 hours (no load),
About 8.5 hours (20% payload)
About 4.5 hours (no load), About 3 hours (20% payload)
24v 6100 mAh LFP battery + 3A current smart charger
Steering Gear Wheels Encoder
S20F 20kg torque digital servo
DS5160 60kg torque digital servo
125mm diameters solid rubber wheels
180mm diameters solid rubber wheels
254 mm inflatable rubber wheels
500 line AB phase high precision encoder
Suspension System Coaxial Pendulum Suspension System 4W Independent Suspension System
Control Interface
iOS & Android App via Bluetooth or Wifi, PS2, CAN, Serial Port, USB
3. Introduction of ROS Controllers
There are 2 types of ROS Controllers available for use with the Rosbot based on Nvidia Jetson platform. Jetson Orin Nano is suited more towards research and education. Jetson Orin NX is ideal for product prototyping and commercial applications. The following table illustrates the main technical differences between the various controllers available from Roboworks. Both boards allow high level computation and are suited towards advanced robotic applications such as computer vision, deep learning and motion planning.
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4. Sensing System: LiDAR & Depth Camera A Leishen LSLiDAR is installed on all Rosbot variations with either the N10 or M10 model being used. These LiDAR’s offer a 360 degree scanning range and surroundings perception and boast a compact and light design. They have a high Signal Noise Ratio and excellent detection performance on high/low reflectivity objects and perform 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 summaries the technical specifications of the LSLiDARs:
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Additionally, all Rosbots are equipped with an Orbbec Astra Depth Camera, which is an RGBD camera. This camera is optimized for a rage of uses including gesture control, skeleton tracking, 3D scanning and point cloud development. The following table summarizes the technical features of the depth camera.
5. 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 -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 application, medical and handheld equipment, PC and gaming peripherals, GPS platforms, industrial applications, alarm system video intercom and scanners.
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STM32F103RC Core
Memories Clock, Reset and Supply Management
Power DMA Debug Mode I/O ports
Timers
Communication Interface
Features
ARM32-bit Cortex M3 CPU
Max speed of 72 MHz
512 KB of Flash memory
64kB of SRAM
2.0 to 3.6 V application supply and I/Os
Sleep, Stop and Standby modes
V supply for RTC and backup registers
BAT
12-channel DMA controller
SWD and JTAG interfaces
Cortex-M3 Embedded Trace Macrocell
51 I/O ports (mappable on 16 external interrupt vectors and 5V tolerant)
4×16-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
USB 2.0 full speed interface
SDIO interface
CAN interface (2.0B Active)
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6. 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 to 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 it is able to successfully navigate difficult terrain. Steering and Driving Technical Specifications:
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Rosbot Chassis Design Diagram: Rosbot 2
Rosbot Pro
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Rosbot Plus
7. Power Management Power Mag – Magnetic LFP Battery: All Rosbots come with a 6000 mAh Power Mag, a magnetic LFP (Lithium Iron Phosphate) battery and a Power Charger. Customers can upgrade the battery to 20000 mAh with additional cost. LFP batteries are a type of lithium-ion battery known for their stability, safety, and long cycle life. Unlike traditional lithium-ion batteries, which use cobalt or nickel, LFP batteries rely on iron phosphate, offering a more sustainable and less toxic alternative. They are highly resistant to thermal runaway, reducing the risk of overheating and fire. While they have a lower energy density compared to other lithium-ion batteries, LFP batteries excel in durability, with
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longer lifespan, faster charging, and better performance in extreme temperatures, making them ideal for electric vehicles (EVs) and energy storage systems. Power Mag can be attached to any metal surfaces of a robot due to its magnetic base design. It makes swapping batteries quick and easy.
Technical Specifications:
Model Battery Pack
Core Material Cutoff Voltage
Full Voltage Charging Current
Shell Material Discharge
Performance
6000 mAh 22.4V 6000mAh Lithium Iron Phosphate
16.5 V 25.55 V
3A Metal 15A Continuous Discharge
20000 mAh 22.4V 20000mAh Lithium Iron Phosphate
16.5 V 25.55 V
3A Metal 20A Continuous Discharge
DC4017MM female connector
DC4017MM female connector
Plug
(charging) XT60U-F female
(charging) XT60U-F female
connector (discharging)
connector (discharging)
Size Weight
177*146*42mm 1.72kg
208*154*97mm 4.1kg
Battery Protection: Short circuit, overcurrent, overcharge, over-discharge protection, support charging while using, built-in safety valve, flame retardant board.
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Super Charge: Super Charge is an Auto Charging Station bundled with Rosbot 2S, Rosbot Pro S, Rosbot Plus S models and can be purchased separately to work with Rosbot 2, Rosbot Pro and Rosbot Plus. 8. Tele-operation There are 4 ways to tele-operate the robot: 8.1 Controlled by PS2 controller:
8.1.1. Connect the PS2 controller to the PCB board 8.1.2. Wait until the indicator turns red on the controller and then press the Start button. 8.1.3. On the pcb board screen, push the left joystick forward and change it from ros to ps2 control mode. The following photo shows the two different control modes: ROS or PS2:
8.2 Controlled by ros2 node and keyboard 8.2.1. Change the control mode to ros 8.2.2. Make sure robot bring up is running (see section 9)
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8.2.3. Run this command: python3 ros2/src/wheeltec_robot_keyboard/wheeltec_robot_keyboard/wheeltec_keyboard.py 4. Alternatively, you can run this command:
ros2 run wheeltec_robot_keyboard wheeltec_keyboard
8.3 Controlled by ros2 node and a USB A controller 8.3.1. Connect a USB A controller 8.3.2. Change the control mode to ros 8.3.3. Make sure robot bring up is running (see section 9) 8.3.4. Run this command:
ros2 launch wheeltec_joy wheeltec_joy.launch.py
8.4 Controlled by Mobile App via Wifi or Bluetooth connection Visit Roboworks’ App Station website and navigate to the Remote Control Mobile Apps section to download the Mobile App for your mobile phone: https://www.roboworks.net/apps
9. ROS 2 Quick Start When the robot is first powered on, it is controlled by ROS by default. Meaning, the STM32 chassis controller board accepts commands from the ROS 2 Controller such as Jetson Orin.
Initial setup is quick and easy, from your host PC (Ubuntu Linux recommended) connect to the robot’s Wi-Fi hotspot. Password by default is “dongguan”.
Next, connect to robot using SSH via the Linux terminal, IP address is 192.168.0.100, default password is dongguan. ~$ ssh wheeltec@192.168.0.100 With terminal access to the robot, you can navigate to the ROS 2 workspace folder, under “wheeltec_ROS 2” Prior to running test programs, navigate to wheeltec_ROS 2/turn_on_wheeltec_robot/ and locate wheeltec_udev.sh – This script must be run, typically only once to ensure proper configuration of peripherals. You are now able to test the robot’s functionality, to launch the ROS 2 controller functionality, run:
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“roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch” ~$ ros2 launch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch In a second terminal, you can use the keyboard_teleop node to validate chassis control, this is a modified version of the popular ROS 2 Turtlebot example. Type (more tele-op control is available in section 8 ): “ros2 run wheeltec_robot_keyboard wheeltec_keyboard”
10. Pre-installed ROS 2 Humble Packages Below are the following user-oriented packages, whilst other packages may be present, these are dependencies only. turn_on_wheeltec_robot
This package is crucial for enabling robot functionality and communication with the chassis controller. The primary script “turn_on_wheeltec_robot.launch” must be used upon each boot to configure ROS 2 and controller. wheeltec_rviz2 Contains launch files to launch rviz with custom configuration for Pickerbot Pro.
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wheeltec_robot_slam SLAM Mapping and localisation package with custom configuration for Pickerbot Pro.
wheeltec_robot_rrt2 Rapidly exploring random tree algorithm – This package enables Pickerbot Pro to plan a path to it’s desired location, by launching exploration nodes.
wheeltec_robot_keyboard Convenient package for validating robot functionality and controlling using the keyboard, including from remote host PC.
wheeltec_robot_nav2 ROS 2 Navigation 2 node package.
wheeltec_lidar_ros2 ROS 2 Lidar package for configuring Leishen M10/N10.
wheeltec_joy Joystick control package, contains launch files for Joystick nodes.
simple_follower_ros2 Basic object and line following algorithms using either laser scan or depth camera.
ros2_astra_camera Astra depth camera package with drivers and launch files.
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Documents / Resources
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ROBOWORKS N10 Programable Mobile Robots [pdf] User Manual N10, M10, N10 Programable Mobile Robots, N10, Programable Mobile Robots, Mobile Robots, Robots |
