N10-M10 Robot Educational Programable Mobile Robot
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Product Specifications
| Product Name | Motor Reduction Ratio | Max Speed | Weight | Max Payload | Size | Minimal Turning Radius | Battery Life | Power Supply |
|---|---|---|---|---|---|---|---|---|
| Rosbot 2 | 1:27 | 1.3m/s | 9.26 kg | 16 kg | 445*360*206mm | 0.77m | About 9.5 hours (no load), About 8.5 hours (20% payload) | 24v 6100 mAh LFP battery + 3A current smart charger |
| Rosbot Pro | 1:18 | 1.65m/s | 22kg | 35.16kg | 766*671*319mm | 1.29m | About 4.5 hours (no load), About 3 hours (20% payload) | 24v 6100 mAh LFP battery + 3A current smart charger |
| Rosbot Plus | 1:18 | 2.33m/s | 35.18kg | 35.18kg | 766*671*319mm | 1.29m | About 4.5 hours (no load), About 3 hours (20% payload) | 24v 6100 mAh LFP battery + 3A current smart charger |
| Rosbot Plus HD | 1:47 | 0.89m/s | 19.54kg | 45kg | 774*570*227mm | 1.02m | About 9.5 hours (no load), About 8.5 hours (20% payload) | 24v 6100 mAh LFP battery + 3A current smart charger |
Product Usage Instructions
1. Powering On the Rosbot:
2. Controlling the Rosbot:
3. Programming the Rosbot:
Frequently Asked Questions (FAQ)
Q: What is the maximum payload capacity of Rosbot Plus HD?
Q: How long is the battery life of Rosbot Pro under 20%
payload?
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ROBOWORKS
Rosbot User Manual
Prepared by: Wayne Liu, Zijie Li, Reilly Smithers & Tara Hercz 28 February 2025 Version #: 20250228
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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. MiROS Visual Programming 10. ROS 2 Quick Start 11. 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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ROBOWORKS
1.Key
Component
Varia%on
Image
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Rosbot 2 Rosbot Pro Rosbot Plus
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2. Product Specifications
Product Matrix
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
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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.
4.
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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:
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.
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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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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.
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
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Rosbot Pro
Rosbot Plus 7. Power Management Power Mag – Magnetic LFP Battery:
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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
DC4017MM female connector
Plug
(charging) XT60U-F female
connector (discharging)
20000 mAh 22.4V 20000mAh
Lithium Iron Phosphate 16.5 V 25.55 V 3A Metal
20A Continuous Discharge
DC4017MM female connector (charging) XT60U-F female connector (discharging)
Size
177*146*42mm
208*154*97mm
Weight
1.72kg
4.1kg
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 longer lifespan, faster charging, and better performance in extreme temperatures, making them ideal for
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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:
Battery Protection: Short circuit, overcurrent, overcharge, over-discharge protection, support charging while using, built-in safety valve, flame retardant board.
Auto Charge: Auto 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.
9. MiROS Visual Programming MiROS is a cloud-based ROS (Robot Operating System) visual programming tool. ROS is based on Linux and requires programming skills in C/C++ or Python. MiROS enables Mac/Windows users to develop ROS programs by drag-and-drop coding without the need to install a Linux VM (Virtual Machine). 9.1 Install Docker Desktop Dockerization is one of the fundamental design principles for MiROS. Visit the below website to download and install your respective Docker Desktop app: https://www.docker.com/products/docker-desktop/ 9.2 Install MiROS App After installing Docker Desktop, visit the below website to download and install your respective MiROS app. Please make sure to select to correct installer according to your computer CPU architecture. The download website is here: https://www.mirobot.ai/downloadmiros Once you have successfully downloaded MiROS on your computer, you can locate the MiROS installer in your download folder of your computer with an icon like this:
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To install MiROS, simply double click the MiROS installer. Once the installation has finished, you will find the MiROS app appears either on your Desktop or in your Application Folder. To launch MiROS, follow the below steps: 1. Launch Docker Desktop App. 2. Launch MiROS App. 3. You will see a Terminal window appears showing MiROS is pulling the ROS and its associated Ubuntu
image from the Cloud to your Docker. Your computer screen could look like the picture shown below:
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The above process will take about 3 ~ 5 minutes. Once this process has finished, your computer’s default web browser will launch the MiROS website. IMPORTANT Every time you launch MiROS on your Mac or Windows, you should launch Docker Desktop first. If you have successfully installed MiROS, your Docker Desktop should show the below docker image in your Images section shown as below:
If your web browser has launched, however, the MiROS website is not loading and the web browser is blank, you may enter the below URL to load the MiROS website:
localhost:8000 Once you see the below MiROS login page, you have successfully installed and launched MiROS.
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If this is you time user of please user account Registering with MiROS will enable the following Cloud Services: · Save and syn your projects on the MiROS Cloud. · Access to your MiROS projects via any web browsers on any computers or robots. · Export your ROS code to any computers or robots. · Push your latest code on your GitHub repositories from any computers or robots.
Once you log in to MiROS, you will land in Project Manager shown as below:
are a first MiROS, register a first.
Start with a template If your robot model is listed in one of the templates, you can select the correct template and proceed to create a new Workspace for your project. By selecting the right template, your project will start with all the factory default ROS packages preinstalled on your robot.
IMPORTANT If you create a new Workspace by selecting a robot template, the ROS packages you are going to create and the factory default ROS packages are all stored and run on the MiROS Cloud and the docker container in your localhost computer, not on your robot.
You can connect to your robot during your project development by topic subscriptions or publications or trigger launch files on your robot remotely from MiROS on your localhost computer. The ROS software on your
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robot is untouched throughout your project development on MiROS until you export your own code to your robot and compile it.
Start from scratch If your robot is not listed as one of the templates, you will need to create your own project from scratch by clicking the red cross button. When you are creating your project from scratch, you can still load the ROS packages from your robot to MiROS webpage. You will learn about the details in the next chapter.
8.4 Mission Control Mission Control is your control center to monitor, communicate and command your robot either in a physical environment or in a simulated environment. The below screenshot is the Mission Control user interface:
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There are 3 main sections of Mission Control: · Tool Bar – The Tool Bar contains the following function buttons: · ROS Canvas – access to GUI-based programming environment. · Code View – access the code-base programming environment. · RQT – access ROS RQT tool. · Simulator – access ROS simulators such as Gazebo and Webots. · Visualiser – access ROS visualisation tools such as Rviz and Foxglove. · Sync to Git – connect to your GitHub account and sync with your GitHub repositories. · Download Code – download your MiROS generated ROS code to your localhost computer. · Connect to Robot – a button to trigger connection between MiROS web interface and your robot via local Wifi network. · Launch Files – send launch file commands to your robot via constant ssh connection.
9.5 Connect to Robot
MiROS connects to your robot via constant ssh connections. There are three requirements in order to maintain the constant ssh connection between the MiROS website and your robot:
· Rosbot IP: 192.168.0.100 · SSH User Credentials:
· User Name: wheeltec
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· Password: dongguan · Enter the path of the setup.bash file:
/home/wheeltec/wheeltec_ros2/install/setup.bash
After connection is established between MiROS running on your localhost computer and your robot, you can carry out the following actions:
· You can send launch commands from your Launch File table in MiROS to your robot. · You can retrieve all of the ROS packages and active messages from your robot to MiROS. · You can test your code and how your robot functions in real-time. To connect to your robot, follow the following steps:
1. Click on “Connect to Robot” button on the top right corner of the Mission Control interface. 2. You will see the following screenshot to enter your robot’s IP, domain ID and the ssh login information. IMPORTANT 1. You should enter the setup.bash or local_setup.bash file on your robot.
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2. If your project is based on an existing robot template, you don’t need to load all the ROS packages from your robot to MiROS anymore. You should keep the “Do not load any packages” option just above the blue “Connect” button. If you start your project from scratch, you may change the option to “Load all packages from robot”.
After you have successfully connected to your robot, you will see the following items added to your MiROS project:
· Your robot’s IP is displayed on the top right corner of your Mission Control. · Your Launch File table should be filled with the launch files copied from your robot. · Enter into ROS Canvas, you will see all of your robot’s ROS packages are displayed and labelled in
red.
9.6 Launch Files A Launch File in ROS is an XML file used to automate the process of starting multiple nodes and setting up their configurations. These files make it easier to manage complex robotic systems by launching multiple nodes, setting parameters, and defining how nodes interact with each other, all in a single command. Here are the key functions of a ROS launch file: 1. Launch Multiple Nodes: Instead of manually starting each node, a launch file can start several nodes simultaneously. 2. Set Parameters: You can define and set global or node-specific parameters for the ROS system. 3. Remap Topics: Launch files allow remapping of topic names so nodes can communicate even if they are expecting different topic names. 4. Namespace Assignment: It can define namespaces to organize the nodes and topics in a structured way. 5. Include Other Launch Files: Complex systems can be modularized by including other launch files.
A basic example of a launch file (`example.launch`) looks like this:
“`xml <launch>
<!– Launch node1 –> <node name=”node1″ pkg=”package_name” type=”node_executable” output=”screen”>
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<param name=”param_name” value=”param_value”/> </node> <!– Launch node2 with remapped topic –> <node name=”node2″ pkg=”package_name” type=”node_executable”>
<remap from=”/old_topic” to=”/new_topic”/> </node> </launch> “` This launch file starts two nodes (`node1` and `node2`), sets parameters, and remaps a topic for `node2`. You can run it using the following command in ROS 2:
roslaunch package_name example.launch Using launch files simplifies the management of large and complex robot systems in ROS. In Mission Control, the Launch Files are presented in a table view shown as the below screenshot:
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The Launch File table contains the Launch File Name, Package Name where the file belongs to, a brief description and a “Launch” button to quickly send launch command to your robot.
IMPORTANT In order to send launch command from your MiROS project to your robot and maintain a constant ssh connection, the below requirements should be met:
· Your localhost computer running MiROS and your robot should be connected to the same local Wifi network.
· You should know the ssh login information of your robot including its IP. · Your robot has installed MiROS Linux version. Without MiROS installed on your robot, you still can
connect to your robot from MiROS. However, the ssh connection is not constant.
10. ROS 2 Quick Start
For Linux users who prefer command lines instead of visual programming, you can follow the below instruction to start up Rosbot in ROS 2. 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: “roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch” ~$ ros2 launch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch
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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”
11. 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. wheeltec_robot_slam SLAM Mapping and localisation package with custom configuration for Pickerbot Pro.
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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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